Application of Improved Ant Colony Algorithm Integrating Adaptive Parameter Configuration in Robot Mobile Path Design

Abstract

—Under the background of the continuous progress of Industry 4.0 reform, the market demand for mobile robots in major world economies is gradually increasing. In order to improve the mobile robot's movement path planning quality and obstacle avoidance ability, this research adjusted the node selection method, pheromone update mechanism, transition probability and volatility coefficient calculation method of the ant colony algorithm, and improved the search direction setting and cost estimation calculation method of the A* algorithm. Thus, a robot movement path planning model can be designed with respect to the improved ant colony algorithm and A* algorithm. The simulation experiment results on grid maps show that the planning model constructed in view of the improved algorithm, the traditional ant colony algorithm, the Tianniu whisker search algorithm, and the particle swarm algorithm designed in this study converged after 8, 37, 23, and 26 iterations, respectively. The minimum path lengths after convergence were 13.24m, 17.82m, 16.24m, and 17.05m, respectively. When the edge length of the grid map is 100m, the minimum planning length and total moving time of the planning model constructed in view of the improved algorithm, the traditional ant colony algorithm, the longicorn whisker search algorithm, and the particle swarm algorithm designed in this study are 49m, 104m, 75m, 93m and 49s, 142s, 93s, and 127s, respectively. This indicates that the model designed in this study can effectively shorten the mobile path and training time while completing mobile tasks. The results of this study have a certain reference value for optimizing the robot's movement mode and obstacle avoidance ability.