A jump point search improved ant colony hybrid optimization algorithm for path planning of mobile robot

摘要

To improve the finding path accuracy of the ant colony algorithm and reduce the number of turns, a jump point search improved ant colony optimization hybrid algorithm has been proposed in this article. Firstly, the initial pheromone concentration distribution gets from the jump points has been introduced to guide the algorithm in finding the way, thus accelerating the early iteration speed. The turning cost factor in the heuristic function has been designed to improve the smoothness of the path. Finally, the adaptive reward and punishment factor, and the Max–Min ant system have been introduced to improve the iterative speed and global search ability of the algorithm. Simulation through three maps of different scales is carried out. Furthermore, the results prove that the jump point search improved ant colony optimization hybrid algorithm performs effectively in finding path accuracy and reducing the number of turns.