A path planning method for mobile robots incorporating artificial potential field method and ant colony algorithm

Yi Xu; QiBing Jin; Yang Zhang

doi:10.1117/12.2686536

10 August 2023 A path planning method for mobile robots incorporating artificial potential field method and ant colony algorithm

Yi Xu, QiBing Jin, Yang Zhang

Author Affiliations +

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127591F (2023) https://doi.org/10.1117/12.2686536
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

For the problems of long planning paths and slow convergence speed of the ant colony optimization (ACO) in mobile robot path planning, this paper improves the ant colony optimization and introduces the artificial potential field method (APF). Firstly, the initial pheromone concentration is differentiated to make the ants more directional at the early stage of the algorithm. Second, the heuristic factor in the heuristic function is dynamically adjusted to optimize the pheromone update strategy so that the algorithm can effectively distinguish the high-quality paths from the common ones. Finally, the distance parameter is added to the repulsion function of APF, the improved ant colony algorithm is fused with APF, and a fusion algorithm based on the improved ant colony algorithm-artificial potential field method (IACO-APF) is proposed. In the simulation experiments, the trajectories are optimized by the B-spline curve method, and the experiments show that the IACO-APF algorithm can obtain better solutions in a shorter time compared with the traditional ant colony algorithm and other algorithms mentioned in the literature.

Citation Download Citation

Yi Xu, QiBing Jin, and Yang Zhang "A path planning method for mobile robots incorporating artificial potential field method and ant colony algorithm", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127591F (10 August 2023); https://doi.org/10.1117/12.2686536

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
8 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Detection and tracking algorithms

Mathematical optimization

Computer simulations

Mobile robots

Polonium

Raster graphics

MATLAB

Show All Keywords

Keywords/Phrases

Search In:

Publication Years