An improved ant colony algorithm for integrating global path planning and local obstacle avoidance for mobile robot in dynamic environment

Chikun Gong; Yuhang Yang; Lipeng Yuan; Jiaxin Wang; Chikun Gong; Yuhang Yang; Lipeng Yuan; Jiaxin Wang

doi:10.3934/mbe.2022579

Mathematical Biosciences and Engineering

2022, Volume 19, Issue 12: 12405-12426. doi: 10.3934/mbe.2022579

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Research article Special Issues

An improved ant colony algorithm for integrating global path planning and local obstacle avoidance for mobile robot in dynamic environment

1.
College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
2.
School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 15001, China
3.
Faculty of Western Languages, Heilongjiang University, Harbin 150080, China

Received: 18 February 2022 Revised: 20 May 2022 Accepted: 02 June 2022 Published: 25 August 2022

To improve the path optimization effect and search efficiency of ant colony optimization (ACO), an improved ant colony algorithm is proposed. A collar path is generated based on the known environmental information to avoid the blindness search at early planning. The effect of the ending point and the turning point is introduced to improve the heuristic information for high search efficiency. The adaptive adjustment of the pheromone intensity value is introduced to optimize the pheromone updating strategy. A variety of control strategies for updating the parameters are given to balance the convergence and global search ability. Then, the improved obstacle avoidance strategies are proposed for dynamic obstacles of different shapes and motion states, which overcome the shortcomings of existing obstacle avoidance strategies. Compared with other improved algorithms in different simulation environments, the results show that the algorithm in this paper is more effective and robust in complicated and large environments. On the other hand, the comparison with other obstacle avoidance strategies in a dynamic environment shows that the strategies designed in this paper have higher path quality after local obstacle avoidance, lower requirements for sensor performance, and higher safety.

Keywords:

Citation: Chikun Gong, Yuhang Yang, Lipeng Yuan, Jiaxin Wang. An improved ant colony algorithm for integrating global path planning and local obstacle avoidance for mobile robot in dynamic environment[J]. Mathematical Biosciences and Engineering, 2022, 19(12): 12405-12426. doi: 10.3934/mbe.2022579

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Abstract

Dear Editorial Board Members,

It is my pleasure to share with you the year-end report for AIMS Environmental Science. The journal went through a challenging year in the fifth year (2018). We have received 57 submissions with 27 published online (Figure 1). The most downloaded and cited papers are listed in Tables 1 and 2. The top read article received more than 4332 downloads.

Figure 1. Manuscript statistics.

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Table 1. The top 10 articles with most pdf download: (By December 31th 2018).

Title	Usages
Quantifying the local-scale ecosystem services provided by urban treed streetscapes in Bolzano, Italy	4332
Low temperature selective catalytic reduction of NOover Mn-based catalyst: A review	1417
Remote sensing of agricultural drought monitoring: A state of art review	1307
Feasibility study of a solar photovoltaic water pumping system for rural Ethiopia	1278
Biophilic architecture: a review of the rationale and outcomes	1234
Nitrate pollution of groundwater by pit latrines in developing countries	1177
Urban agriculture in the transition to low carbon cities through urban greening	1136
Climate change and land management impact rangeland condition and sage-grouse habitat in southeastern Oregon	1097
A state-and-transition simulation modeling approach for estimating the historical range of variability	1080
Effects of urban green areas on air temperature in a medium-sized Argentinian city	1033

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Table 2. The top 10 articles with most cited: (By December 31th 2018).

Title	Number
Traffic-related air pollution and brain development	14
Biophilic architecture: a review of the rationale and outcomes	11
An integrated approach to modeling changes in land use, land cover, and disturbance and their impact on ecosystem carbon dynamics: a case study in the Sierra Nevada Mountains of California	9
Nitrate pollution of groundwater by pit latrines in developing countries	9
The mechanism of kaolin clay flocculation by a cation-independent bioflocculant produced by Chryseobacterium daeguense W6	9
Enhancing water flux of thin-film nanocomposite (TFN) membrane by incorporation of bimodal silica nanoparticles	9
Linking state-and-transition simulation and timber supply models for forest biomass production scenarios	8
Climate change and land management impact rangeland condition and sage-grouse habitat in southeastern Oregon	8
Quantifying the local-scale ecosystem services provided by urban treed streetscapes in Bolzano, Italy	8
Combining state-and-transition simulations and species distribution models to anticipate the effects of climate change	8

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I would like to thank all the board members for serving on the Editorial Board and their dedication and contribution to the journal AIMS Environmental Science. The goal in 2019 is to solicit more papers and increase paper citations. We will try our best to reduce the processing time and supply with a better experience for publication. To recognize the contribution of the Editorial Board members and authors during the years, we will offer that (1) for authors invited, the article processing charge (APC) is automatically waived; (2) each editorial board member is entitled for some waivers. I am looking forward to continuing working with you to make the AIMS Environmental Science a sustainable and impactful journal. Please don't hesitate to send me e-mails if you have new ideas and suggestions to help us to achieve this goal.

Yifeng Wang, Ph.D.

Editor in Chief, AIMS Environmental Science

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