Research on Robot Path Planning Technology Combining Ant Algorithm and DWA Algorithm

Abstract

Hengyi Huang and Sanli Fu

Path planning is an important problem in the field of robotics, the main purpose of which is to plan the best path to avoid obstacles during the robot's action, so as to realize the robot's autonomous action. However, the traditional path planning algorithm often cannot deal with the situation of multiple dynamic obstacles, which makes the application of the robot in the actual scene is greatly limited. To solve this problem, a path planning algorithm based on ant colony algorithm and dynamic window method is proposed in this paper. This fusion algorithm can not only obtain the global optimal path by using the global known information, but also cope with the unknown dynamic obstacles to avoid collision. It can better complete the path planning task in the actual situation with superior performance, improve the safety of the robot during the execution of the task, and ensure the subsequent execution efficiency.

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