Algorithm Research & Explore
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1705-1709

Research on path planning of mobile robot based on heterogeneous dual population and global vision ant colony algorithm

Ma Feiyu
Qu Zhong
School of Software Engineering, Chongqing University of Posts & Telecommunications, Chongqing 400065, China

Abstract

Aiming at the problems of slow algorithm convergence and insufficient ability to approach the optimal solution in the ant colony algorithm, this paper proposed an ant colony algorithm based on heterogeneous dual-population and global vision, and applied to the field of mobile robot path planning. Firstly, the algorithm studied the parallel structure based on heterogeneous ant colonies, improved the convergence speed and the ability to plan the optimal path by collaboration through differentiated populations. Then, the algorithm studied the adaptive step size with global field of view, and solved the problem that the ant colony algorithm could not search for the optimal step size due to the local field of view. Finally, the algorithm studied the pheromone initialization and updated methods, improved the search disorder and unreasonable pheromone update in the initial stage of the traditional ant colony algorithm. The experimental results show that the algorithm has a significant improvement over the comparison methods in terms of approaching the optimal solution ability and improving the convergence speed. In the several simulation maps tested, the average path length is optimized by 12%, and the average number of iterations and average running time are reduced by 67% and 82% respectively.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.12.0632
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 6
Section: Algorithm Research & Explore
Pages: 1705-1709
Serial Number: 1001-3695(2022)06-018-1705-05

Publish History

[2022-01-25] Accepted Paper
[2022-06-05] Printed Article

Cite This Article

马飞宇, 瞿中. 基于异构双种群全局视野蚁群算法的移动机器人路径规划研究 [J]. 计算机应用研究, 2022, 39 (6): 1705-1709. (Ma Feiyu, Qu Zhong. Research on path planning of mobile robot based on heterogeneous dual population and global vision ant colony algorithm [J]. Application Research of Computers, 2022, 39 (6): 1705-1709. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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