Intelligent Warehouse Robot Path Planning Based on Improved Ant Colony Algorithm

被引：13
作者：
Chen, Yun [2 ]
Wu, Jinfeng [1 ]
He, Chaoshuai [1 ]
Zhang, Si [1 ]
机构：
[1] Jiangsu Univ Sci & Technol, Sch Mech Engn, Zhenjiang, Peoples R China
[2] China State Shipbuilding Corp, Res Inst, Lianyungang 222061, Peoples R China
来源：
IEEE ACCESS | 2023年 / 11卷
基金：
中国国家自然科学基金;
关键词：
Ant colony optimization; Path planning; Convergence; Safety; Optimization; Heuristic algorithms; Robot kinematics; Warehouses; Mobile robots; Poisson equations; Intelligent warehouse robot; ant colony algorithm; path planning; poisson distribution; three-color grid map; OPTIMIZATION;
D O I：
10.1109/ACCESS.2023.3241960
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To improve the safety and accuracy of path planning of intelligent warehouse robots, this paper establishes a storage shelf model, incorporates Poisson Distribution to simulate the influence of unknown factors, and establishes a three-color raster map. The pheromone update mechanism is optimized by considering the path safety, path length, and turning elements under the influence of unknown factors. The two models based on the three-dimensional shelves are simulated separately, and the planned paths are de-pointed and smoothed. The simulation results show that the improved algorithm can design the optimal route safely and effectively in the storage environment under the influence of unknown factors. The proposed algorithm not only solves the blind search and deadlock problems, but also has better performances than other algorithms, i.e., 4 iterations compared to 22 and 30 iterations, 3 turns compared to 9 and 7 turns, 8.468s running time compared to 16.974s and 13.754s.
引用
收藏
页码：12360 / 12367
页数：8
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