Research on robot obstacle avoidance and path tracking under dynamically unknown environment

Path planning is an important area of mobile robot research, and the ant colony optimization algorithm is essential for analyzing path planning. However, the current ant colony optimization algorithm applied to the path planning of mobile robots still has some limitations, including early blind search, slow convergence speed, and more turns. To overcome these problems, an improved ant colony optimization algorithm is proposed in this paper. In the improved algorithm, we introduce the idea of triangle inequality and a pseudo-random state transfer strategy to enhance the guidance of target points and improve the search efficiency and quality of the algorithm. In addition, we propose a pheromone update strategy based on the partition method with upper and lower limits on the pheromone concentration. This can not only improve the global search capability and convergence speed of the algorithm but also avoid the premature and stagnation phenomenon of the algorithm during the search. To prevent the ants from getting into a deadlock state, we introduce a backtracking mechanism to enable the ants to explore the solution space better. Finally, to verify the effectiveness of the proposed algorithm, the algorithm is compared with 11 existing methods for solving the robot path planning problem, including several ACO variants and two commonly used algorithms (A* algorithm and Dijkstra algorithm), and the experimental results show that the improved ACO algorithm can plan paths with faster convergence, shorter path lengths, and higher smoothness. Specifically, the algorithm produces the shortest path length with a standard deviation of zero while ensuring the most rapid convergence and the highest smoothness in the case of the shortest path in four different grid environments. These experimental results demonstrate the effectiveness of the proposed algorithm in path planning.

Path planning aims to enable autonomous robots to navigate safely and efficiently from a starting point to a target point in challenging and dynamic environments. Path planning in robotics is highly significant and still an ongoing subject of research. The increasing use of robots in various applications such as industrial automation, service robotics, and autonomous vehicles has brought forth the need for reliable and efficient path planning algorithms. The inherent capability of Voronoi diagrams to partition space based on proximity makes them an effective framework for research in path planning. Ant colony optimization, a bio-inspired optimization technique, is based on the foraging behavior of ants and is commonly employed to address the traveling salesman problem and various other combinatorial optimization problems. A hybrid method was adopted in this study by combining a Voronoi diagram and an ant colony algorithm. To create paths for the robot where it can stay as far away from obstacles as possible, a Voronoi diagram was utilized. Additionally, to find the shortest path from the starting point to the destination among these paths, ant colony optimization was employed. The main contribution of the study lies in the combination of the Voronoi diagram for obstacle avoidance and ant colony optimization for finding the optimal path. The combination of these techniques makes an effective contribution to robotic path planning by focusing on ensuring safety by avoiding obstacles while optimizing the shortest path. Experimental studies show that the hybrid method produces successful results for the desired purpose.

In the current research field of mobile robots, optimal path planning is a hot topic. Ant colony algorithm is diffusely used in mobile robot path planning because of its its positive feedback, distributed and so on. However, traditional basic ant colony algorithm has some disadvantages, such as easy local convergence, slow search convergence rate and low efficiency. To solve these problems, this paper proposes an improved ant colony algorithm. Based on the algorithm principle, a new method for global pheromone initialization is put forward by improving and optimizing the pheromone mechanism, and there is a certain probability to carry out “variation” operation in each search iteration process. Meanwhile, the calculation method of heuristic function is improved to reduce the possibility of premature convergence of the algorithm falling into local optimum. The two-dimensional space model of mobile robot is created by grid method. Then they are simulated and tested respectively, and the test results are compared and analyzed. The experimental results show that the improved algorithm can obviously optimize the defects of the original algorithm, which not only can plan the path faster, but also can plan the better path, and the search efficiency has been significantly improved.

For the issues of the ant colony algorithm (ACO) to solving the problems in mobile robot path planning, such as the slow optimization speed and the redundant paths in planning results, a high-precision improved ant colony algorithm (IPACO) with fast optimization and compound prediction mechanism is proposed. Firstly, aiming at maximizing the possibility of optimal node selection in the process of path planning, a composite optimal node prediction model is introduced to improve the state transition function. Secondly, a pheromone model with initialize the distribution and “reward or punishment” update mechanism is used to updates the global pheromone concentration directionally, which increases the pheromone concentration of excellent path nodes and the heuristic effect; Finally, a prediction-backward mechanism to deal with the “deadlock” problem in the ant colony search process is adopted in the IPACO algorithm, which enhance the success rate in the ACO algorithm path planning. Five groups of different environments are selected to compare and verify the performance of IPACO algorithm, ACO algorithm and three typical path planning algorithms. The experimental simulation results show that, compared with the ACO algorithm, the convergence speed and the planning path accuracy of the IPACO algorithm are improved by 57.69% and 12.86% respectively, and the convergence speed and the planning path accuracy are significantly improved; the optimal path length, optimization speed and stability of the IPACO algorithm are improved. Which verifies that the IPACO algorithm can effectively improve the environmental compatibility and stability of the ant colony algorithm path planning, and the effect is significantly improved.

Dynamic Window Approach (DWA) is widely used in the local path planning of mobile robot. DWA algorithm has the advantages of simple planning algorithm and good realtime performance. However, the DWA exists unreachable target point, unreasonable path planning in the dense obstacles and it cannot ensure both speed and security. Therefore, an online parameter self-adaptive DWA algorithm is proposed to automatically adjust the weight of the objective function on the basis of the size of alternative velocity space and the distance between the mobile robot to the target point. By adapting to the dynamic changes of the environment, the optimal running speed and reasonable path of mobile robot can be obtained. The simulation verified that the mobile robot can pass through the dense obstacles area and reach the target point safely and reliably. And the problems that the robot might move around the dense obstacles and result in an unsmooth path are avoided. and the operational efficiency of the mobile robot is ensured simultaneously.

Based on the artificial potential field algorithm and bacterial foraging algorithm, research method for obstacle avoidance and path planning of the mobile robot. Firstly, analysis method of bacterial foraging three operations: trends, replication, migration, establishment of bacterial foraging algorithm process; secondly establish the bacterial foraging algorithm model; and then analyze the artificial potential field algorithm and bacterial foraging the advantage and disadvantage of the algorithm, proposed a new hybrid algorithm has the global search ability and fast convergence. Using artificial potential field and bacterial foraging method on mobile robot global path planning and then compared with the mixture algorithm, based on the simulation results, the global path planning of mobile robot Simulation results show the feasibility and effectiveness of the hybrid algorithm.

To determine the optimal trajectory of mobile robots in a complex environment and to enhance the effectiveness of search efficiency and path optimization, an improved ant colony (ACO) algorithm is proposed. A fusion algorithm of improved particle swarm optimization (PSO) and ACO algorithm is proposed to solve for optimal paths. Firstly, we improve the PSO and adaptively adjust the inertia weight to facilitate the particle search. Besides, we disturb the particles with the chaotic variables to increase the convergence speed. Secondly, the pheromone distribution on the path is adjusted based on the optimal solution of PSO to solve the initial pheromone insufficiency issue in the ACO algorithm. Then, to optimize the update strategy, we adaptively adjust the pheromone intensity values. We also provide a wide range of control schemes for updating the parameters for balancing the search capability and convergence. The results in the simulation environment show that our algorithm is more effective than other improved algorithms. The improved fusion algorithm converges faster and finds shorter optimal path. The method can improve the comprehensive performance and achieve the rapid path planning for mobile robots.

Mobile robots are widely used in daily life, and ant colony algorithm is often adopted for its path planning. However, the classic ant colony algorithm has poor search ability and search speed due to the monotony of individuals within the population. In order to solve the problems of local optimal solution, slow convergence speed and low search efficiency of classic ant colony algorithm, a genetic-ant colony algorithm is proposed in this paper. The algorithm parameters are optimized by simulation experiment to determine the best parameter combination. The method is to give a certain range of random pheromone values to the primary ant individuals to enrich the population diversity. In each cycle, m ants are sent for foraging. After each foraging cycle, aiming at the growth of individual pheromone value, the fitness function of genetic algorithm is established to evaluate individual fitness value, and the parental individuals carry out genetic operations such as selection, crossover and variation to produce offspring individuals with the same number and higher pheromone level, the offspring individuals carry out the next cycle of foraging and keep cycling. The population diversity is maintained at a high level, while the increase in the level of individual pheromone speeds up the convergence and operation of the algorithm. The simulation results show that the running time of the improved algorithm is significantly shorter than that of the traditional ant colony algorithm in the 40 * 40 grid map, and the running time of the algorithm is reduced by 21.34%; in the complex grid environment, the frequency of obtaining the optimal path of the algorithm is significantly higher than that of ordinary ant colonies, and the frequency is increased; and the number of iterations when the optimal path is reached for the first time is significantly reduced,–which has verified the effectiveness, stability and superiority of genetic-ant colony algorithm.

In order to solve the problems of ant colony algorithm in the path planning of mobile robots, such as slow convergence speed and easy to fall into local optimum, an improved algorithm of adaptive ant colony algorithm is proposed in this paper. The algorithm improves the ant’s transition probability function by adding the number of revolutions and the angle of rotation to the heuristic function, and adding the target guide element, which can make the algorithm converge faster. The pheromone update formula is based on the wolfs food competition and distribution principle, which adaptively updates the pheromone volatility that satisfies the Cauchy distribution to avoid the local optimal solution found by the algorithm. Finally, by comparing and analyzing the statistical data results obtained by simulation, it can be concluded that the improved ant colony algorithm in this paper is better.

Aiming at disadvantages of particle swarm optimization in the path planning of mobile robots, such as low convergence accuracy and easy maturity, this paper proposes an improved particle swarm optimization algorithm based on differential evolution. First, the concept of corporate governance is introduced, adding adaptive adjustment weights and acceleration coefficients to improve the traditional particle swarm optimization and increase the algorithm convergence speed. Then, in order to improve the performance of the differential evolution algorithm, the size of the mutation is controlled by adding adaptive parameters. Moreover, a “high-intensity training” mode is developed to use the improved differential evolution algorithm to intensively train the global optimal position of the particle swarm optimization, which can improve the search precision of the algorithm. Finally, the mathematical model for robot path planning is devised as a two-objective optimization with two indices, i.e., the path length and the degree of danger to optimize the path planning. The proposed algorithm is applied to different experiments for path planning simulation tests. The results demonstrate the feasibility and effectiveness of it in solving a mobile robot path-planning problem.

Background: Path planning technology has a wide range of applications in many fields. Applications in the field of high technology include: autonomous and touchless action of robots; obstacle avoidance and defense flight of drones; cruise missiles to avoid radar search, anti- bouncing attacks, and to complete the task of sudden defense and demolition. Applications in daily life include: GPS navigation; road planning based on GIS system; urban road network planning and navigation. Applications in the field of decision-making management include: vehicle problem (VRP) in logistics management and similar resource allocation problems in resource management. Routing problems in the field of communication technology. Any planning problem that can be topologized as a point and line network can basically be solved by the method of path planning. Different intelligent algorithms have different characteristics, and their application scope and fields are also different, so it is of great significance for the development of path planning technology to study the path planning intelligent algorithms from the characteristics of the algorithms themselves and their applications. Objective: Analyze the advantages and disadvantages of various types of planning algorithms, look forward to the future development trend of mobile robot path planning, and provide certain ideas for the research of mobile robot path planning. Methods: Search journals, patents, conferences, and papers related to mobile robot path planning, and summarize and analyze the advantages and disadvantages of various planning algorithms. Results: Based on the research results of many scholars, this study summarizes different mobile robot path planning methods. It is divided into four categories: traditional planning, intelligent search, artificial intelligence and local obstacle avoidance. This paper introduces and analyzes the latest research results of these types, including their design ideas, advantages and disadvantages, and improvement measures. The research methods adopted are analyzed in order to maximize the advantages of each algorithm and expand the application field of robot path planning to provide ideas and references. Conclusion: This paper provides guidance for the design and optimization of robot path planning. Finally, this paper summarizes the future development trend of robot path planning, and looks forward to the future development trend and key areas of robot path planning.

Path planning of mobile robots is an important research content in mobile robot design. In view of the characteristics of classic ant colony algorithm, such as long distance, low efficiency and easy to fail into dead zone, a new pheromone updating algorithm and global/local pheromone distribution models are proposed. The grid method is used to construct two-dimensional plane space with obstacles and the simulation experiment is carried out. The simulation results show that under the improved algorithm, the robot path planning efficiency is high and the path distance is short, which verifies the validity of the model.

Evolutionary algorithms (EA) have been used to solve path planning of mobile robots successfully. However, accuracy and convergence are always topics. The cloud model which transforms qualitative concept into quantitative description, and vice versa, is adept in uncertainty modeling. It can be used in EA for evolving in a uniform and natural way. An EA embedded with cloud model (EACM) for path planning of mobile robots was proposed in this paper. The algorithm adopted floating-point coding and realized fast converging. Simulation results verified the efficiency of our algorithm.

An improved TD3 algorithm is studied for the low success rate and slow learning speed of TD3(Twin Delayed Deep Deterministic Policy Gradients) algorithm in mobile robot path planning. Prioritized experience replay is added and dynamic delay update strategy is designed which can reduce the impact of value estimation errors to improve the success rate of path planning, and reduce training time. Based on the ROS melodic operating system and the Gazebo simulation software, the Turtlebot3 robot model and simulation experimental environment are established. The effectiveness of the improved TD3 algorithm is verified by comparative experiments. For the path planning task of the mobile robot, the simulation results show that compared with TD3 algorithm, the success rate of the improved TD3 algorithm is increased by 15.6%, and the training navigation time is shortened by 20%. It indicates that the improved TD3 algorithm achieves better performance in the path planning of mobile robot with continuous action space.

In this paper, warehouse logistics robot as the research object, starting from the reality of modern e-commerce logistics industry, proposed a warehousing logistics mobile robot path planning method. Ant colony algorithm is used to plan the forward path of mobile robot in static and dynamic environment of warehouse logistics. The results show that the elite-based strategy improves the global search capability of ACA and eliminates redundant nodes in the path, and the path length of the obtained plan is significantly better than that of traditional ACA, which is reduced by 3.46% and 5.90%, respectively, indicating that the elite-based strategy and the central-point-based smoothing method play their roles. The path length of the robot’s final operation is larger than that of the global path planning, which increases by 1, accounting for 6.67% of the original path length. Therefore, the storage and logistics mobile robot based on ACA-E algorithm has short driving distance and superior obstacle avoidance ability.