Smooth Path Planning of Ackerman Chassis Robot based on Improved ant Colony Algorithm

• DOI: 10.46300/9106.2020.14.49
• Publication Date: 2020-07-20T12:54:56Z
• Authors: Guannan Lei; Yili Zheng
• Keywords: Chassis; Turning radius; Smoothing; Any-angle path planning

In the domain of robotics and autonomous driving, automatic path planning vehicle collision-free motion is an essential task on navigation level. It found that traditional algorithm ployline cannot fully meet driving requirements Ackerman chassis robot. order to solve problem mobile robot in structured environment, this paper presents a new improved algorithm. The method configuration space can introduce robot's own structural size parameters into Through convex polygon detection method, local U-shaped area map transformed closed area. essence these two strategies preprocess map. initial pheromone distribution no longer globally uniform, but distributed according terrain. volatilization factor changed from static constant dynamic one, which combined with Poisson law. This strategy makes law not only avoid randomness blindness stage algorithm, also ensure ant colony's exploration behavior guiding role middle Path smoothing challenging task. optimizes step by improving evaluation function, removing redundant nodes 2-turning Thus, collision free smooth suitable for obtained. combines variety improvement strategies, performance colony exploration, curve rather than polyline tracking. coded simulated MATLAB, feasibility effectiveness are verified. will provide important basis subsequent migration lay foundation tracking control Ackermann