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Front Neurorobot

Title:		Research on smooth path planning method based on improved ant colony algorithm optimized by Floyd algorithm
Author(s):		Wang L; Wang H; Yang X; Gao Y; Cui X; Wang B;
Address:		"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China. Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China"
Journal Title:		Front Neurorobot
Year:		2022
Volume:		20220824
Issue:
Page Number:		955179 -
DOI:		10.3389/fnbot.2022.955179
ISSN/ISBN:		1662-5218 (Print) 1662-5218 (Electronic) 1662-5218 (Linking)
Abstract:		"Aiming at the problems of slow convergence and easy fall into local optimal solution of the classic ant colony algorithm in path planning, an improved ant colony algorithm is proposed. Firstly, the Floyd algorithm is introduced to generate the guiding path, and increase the pheromone content on the guiding path. Through the difference in initial pheromone, the ant colony is guided to quickly find the target node. Secondly, the fallback strategy is applied to reduce the number of ants who die due to falling into the trap to increase the probability of ants finding the target node. Thirdly, the gravity concept in the artificial potential field method and the concept of distance from the optional node to the target node are introduced to improve the heuristic function to make up for the fallback strategy on the convergence speed of the algorithm. Fourthly, a multi-objective optimization function is proposed, which comprehensively considers the three indexes of path length, security, and energy consumption and combines the dynamic optimization idea to optimize the pheromone update method, to avoid the algorithm falling into the local optimal solution and improve the comprehensive quality of the path. Finally, according to the connectivity principle and quadratic B-spline curve optimization method, the path nodes are optimized to shorten the path length effectively"
Keywords:		Floyd algorithm ant colony optimization fallback strategy multi-objective optimization quadratic B-spline curve;
Notes:		"PubMed-not-MEDLINEWang, Lina Wang, Hejing Yang, Xin Gao, Yanfeng Cui, Xiaohong Wang, Binrui eng Switzerland 2022/09/13 Front Neurorobot. 2022 Aug 24; 16:955179. doi: 10.3389/fnbot.2022.955179. eCollection 2022"