TITLE:
Robot Global Path Planning Based on an Improved Ant Colony Algorithm
AUTHORS:
Jingang Cao
KEYWORDS:
Path Planning, Ant Colony Algorithm, Grid Method
JOURNAL NAME:
Journal of Computer and Communications,
Vol.4 No.2,
February
15,
2016
ABSTRACT: Aiming at the disadvantages of the basic
ant colony algorithm, this paper proposes an improved ant colony algorithm for
robot global path planning. First, adjust the pheromone evaporation rate
dynamically to enhance the global search ability and convergence speed, and
then modify the heuristic function to improve the state transition
probabilities in order to find the optimal solution as quickly as possible; and
finally change the pheromone update strategy to avoid premature by
strengthening pheromone on the optimal path and limiting pheromone level.
Simulation results verify the effectiveness of the improved algorithm.