Electronic Science and Technology ›› 2019, Vol. 32 ›› Issue (9): 5-9.doi: 10.16180/j.cnki.issn1007-7820.2019.09.002

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Research on Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

LIU Xuefang,ZENG Guohui,HUANG Bo,LU Dunke   

  1. School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China
  • Received:2018-08-30 Online:2019-09-15 Published:2019-09-19
  • Supported by:
    National Natural Science Foundation of China(11704243);National Natural Science Foundation of China(61603242)


In order to solve the problem that the traditional Ant Colony (AC) algorithm had a slow convergence speed and was easy to fall into a local optimal solution, an improved AC algorithm was proposed and applied to the path planning problem of mobile robots. This method built the environment using the grid model, and the obstacles were expanded to effectively reduce the possibility of the moving mobile robot colliding with obstacles. By constructing the heuristic function, the length of the ant colony search path was reduced. The pheromone diffusion algorithm was used to improve the global search ability of the algorithm in the initial stage, so as to accelerate the late convergence speed of the algorithm. The simulation results showed that the proposed improved AC algorithm could plan the optimal path. Besides, compared to the traditional method, the proposed improved AC algorithm doubled convergence speed.

Key words: grid map, ant colony algorithm, pheromone diffusion, heuristic function, path planning, move robot

CLC Number: 

  • TP242.6