A Path Optimization Algorithm for the Mobile Robot of Coal Mine Based on Ant Colony Membrane Algorithm

摘要

Intelligent and unmanned is the new trend of coal mining in the future. Mobile robots will play an important role, and path planning is one of the key technologies in mobile robot research.The traditional ant colony optimization algorithm plays an active role in the optimization of robot, but there is some deficiency in local optimum and convergence.In view of the traditional ant colony optimization algorithm in optimization research on robot, this paper proposes a calculation based on the membrane of the ant colony algorithm, and by using the algorithm of robot in coal mine path optimization research, and compared with the traditional ant colony algorithm in simulation results, the experimental results prove that: the ant colony membrane algorithm can overcome the insufficient of traditional ant colony algorithm in local optimization, it can be in a shorter period of time to obtain the optimal solution, to improve the convergence speed and better robustness.It provides a good theoretical basis and application value for coal mine mobile robot's of the intelligence and reliability.