Affiliations:
Institute of Mechanical and Electrical Equipmentand Measurement and Control Technology, School of Electrical Engineering, Henan University of Technology, Zhengzhou, China
Correspondence:
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Correspondence to: Jianjuan Liu, Institute of Mechanical and Electrical Equipment and Measurement and Control Technology, School of Electrical Engineering, Henan University of Technology, Zhengzhou, China. E-mail: liujuanhaut@haut.edu.cn.
Abstract: For the issues of the ant colony algorithm (ACO) to solving the problems in mobile robot path planning, such as the slow optimization speed and the redundant paths in planning results, a high-precision improved ant colony algorithm (IPACO) with fast optimization and compound prediction mechanism is proposed. Firstly, aiming at maximizing the possibility of optimal node selection in the process of path planning, a composite optimal node prediction model is introduced to improve the state transition function. Secondly, a pheromone model with initialize the distribution and “reward or punishment” update mechanism is used to updates the global pheromone concentration directionally, which increases the pheromone concentration of excellent path nodes and the heuristic effect; Finally, a prediction-backward mechanism to deal with the “deadlock” problem in the ant colony search process is adopted in the IPACO algorithm, which enhance the success rate in the ACO algorithm path planning. Five groups of different environments are selected to compare and verify the performance of IPACO algorithm, ACO algorithm and three typical path planning algorithms. The experimental simulation results show that, compared with the ACO algorithm, the convergence speed and the planning path accuracy of the IPACO algorithm are improved by 57.69% and 12.86% respectively, and the convergence speed and the planning path accuracy are significantly improved; the optimal path length, optimization speed and stability of the IPACO algorithm are improved. Which verifies that the IPACO algorithm can effectively improve the environmental compatibility and stability of the ant colony algorithm path planning, and the effect is significantly improved.
Keywords: Mobile robot, Path planning, Path prediction model, Ant colony optimization algorithm, Reward and punishment update
