Path Planning of the Spherical Robot based on Improved Ant Colony Algorithm

摘要

With the development and progress of science and technology, the requirement of intelligent algorithm performance in the field of path planning is constantly improved. It is very important to improve the performance of intelligent algorithm and apply it in the field of path planning. In order to overcome the problem that ant colony algorithm tends to fall into local optimal in the early stage and converge slowly in the late stage. This paper proposed an ant colony algorithm based on adaptive pheromone updating strategy and enhanced negative feedback mechanism. The simulation results show that the improved ant colony algorithm is superior to the traditional ant colony algorithm and solves the problem of insufficient convergence in the early stage and low convergence in the late stage. Finally, the algorithm is tested by spherical robot. The experimental results show that the improved ant colony algorithm overcomes the shortcomings of traditional algorithms and verifies the effectiveness and convergence of the algorithm.