An Improved Hybrid Ant Colony Optimization and Genetic Algorithm for Multi-Map Path Planning of Rescuing Robots in Mine Disaster Scenario

摘要

This paper proposes a multi-map path planning approach for rescue robots to address the challenges posed by complex obstacle information, high uncertainty, and the difficulties in mine disaster scenarios. Based on multiple possible environmental maps, each with associated subjective probabilities derived from prior knowledge and expert estimations, a mathematical model for multi-map path planning in mine disaster rescue scenarios is developed. An improved hybrid algorithm combining ant colony optimization (ACO) and genetic algorithm (GA) is then proposed to solve the established model. In the hybrid approach, the improved ACO is employed to overcome the limitations of traditional genetic algorithms, such as poor initial population quality, slow convergence, and suboptimal results. Additionally, a grid-based, rectangular-area, obstacle avoidance strategy is incorporated to precisely evaluate the obstacle avoidance path of each individual across different obstacle maps. Finally, the feasibility and effectiveness of the proposed hybrid algorithm are validated through simulations involving both single and multiple mine disaster maps. The results demonstrate the potential of the proposed approach for solving robot path optimization problems in complex multi-environment scenarios.