%0 Journal Article
%A JIANG Jin
%A LIU Ang
%A XU Kefeng
%T Robot path planning based on improved ant colony and pigeon inspired optimization algorithm
%D 2020
%R 10.11772/j.issn.1001-9081.2020040538
%J Journal of Computer Applications
%P 3366-3372
%V 40
%N 11
%X A method was proposed by combining the global and local path planning algorithms for the problems of slow iteration and not good path in mobile robot path planning under complex environment. Firstly, the synchronous bidirectional A^{*} algorithm was used for the pheromone optimization of ant colony algorithm, and the transition probability and pheromone update mechanism of ant colony algorithm were improved, so that the global optimization of the algorithm was faster and the path length of the mobile robot was shortened. Furthermore, the static path was used to initialize the pigeon inspired optimization algorithm. Secondly, the improved pigeon inspired optimization algorithm was used for the local path planning of the mobile robot. The simulated annealing criteria were introduced to solve the local optimum problem, and the logarithmic S-type transfer function was used to optimize the step size of the number of pigeons, so as to better avoid the collision with dynamic obstacles. Finally, the cubic B-spline curve was used to smooth and replan the route. Simulation results indicate that the algorithm can generate smooth paths with short length and small evaluation value in both global static and local dynamic phases, and converge quickly, which is suitable for mobile robot to travel in dynamic and complex environments.
%U http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2020040538