Robot path planning using fusion algorithm of ant colony optimization and genetic algorithm
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Published:2023-03-16
Issue:
Volume:
Page:
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ISSN:1793-9623
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Container-title:International Journal of Modeling, Simulation, and Scientific Computing
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language:en
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Short-container-title:Int. J. Model. Simul. Sci. Comput.
Author:
Kangkang Ma1,
Lei Wang1,
Jingcao Cai1,
Dongdong Li1,
Anheng Wang1,
Tielong Tan2
Affiliation:
1. School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, P. R. China
2. Wuhu Kepu Intelligent Equipment Co., Ltd., Anhui, Wuhu 241000, P. R. China
Abstract
Aiming at the shortcomings of single ant colony optimization such as many redundant nodes, slow convergence and low efficiency, based on the idea of “selection-crossover” of genetic algorithm, an improved fusion algorithm of ant colony optimization and genetic algorithm is proposed. In this paper, the fusion algorithm includes “optimal strategy” and “genetic region strategy”. The optimal strategy is that high-quality parents are selected by roulette in the first [Formula: see text] paths of each generation; genetic region strategy is that according to the path information of the parents, the grid map is divided into genetic area and nongenetic area. Genetic area refers to the area where the offspring ants can pass, and nongenetic area refers to the area where the offspring ants can’t pass; finally, the offspring ant searches the path in the genetic region to reduce the search range of the offspring ant and improve the convergence speed. Simulation results show that the fusion algorithm has faster searching speed and more stable convergence than the basic ant colony optimization and other improved ant colony optimization.
Funder
Anhui Province University Excellent Top Talent Training Project
Key Natural Science Research Projects of Colleges and Universities in Anhui Province
Open Research Fund of Anhui Province Key Laboratory of Detection Technology and Energy Saving Devices, Anhui Polytechnic University
Anhui Polytechnic University-Jiujiang District Industrial Collaborative Innovation Special Fund Project
Research Fund Project of Anhui Engineering University
Wuhu Science and Technology Project
Publisher
World Scientific Pub Co Pte Ltd
Subject
Computer Science Applications,Modeling and Simulation,General Engineering,General Mathematics
Cited by
3 articles.
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