A hybrid planning method combining an improved ant colony algorithm with Morphin algorithm is proposed for dynamic path planning for robot in complicated environment. Grid method is adopted to establish the model. The robot uses the improved ant colony algorithm for global path planning first, then uses Morphin algorithm for partial obstacle avoidance when it is marching on. The improved ant colony algorithm introduces an inflection point parameter to evaluate the path, so that the corner of the path is disposed and the updating mechanism of corner pheromone is changed. The Morphin algorithm is disposed with adjacent grid to meet the grid environments. This method combines the characteristics of global planning with local planning, which can not only realize real-time path planning according to the environment, but also guide the robot to the target with the global optimal path. Simulation results indicate that this method can make the robot avoid obstacles along a short and smooth path to quickly reach the target point.
WAN Xiaofeng
,
HU Wei
,
ZHENG Bojia
,
FANG Wuyi
. Robot path planning method based on improved ant colony algorithm and Morphin algorithm[J]. Science & Technology Review, 2015
, 33(3)
: 84
-89
.
DOI: 10.3981/j.issn.1000-7857.2015.03.014
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