A particle swarm-ant colony fusion algorithm for path planning based on chaotic perturbation and adaptive pheromone adjustment

Abstract

To determine the optimal trajectory of mobile robots in a complex environment and to enhance the effectiveness of search efficiency and path optimization, an improved ant colony (ACO) algorithm is proposed. A fusion algorithm of improved particle swarm optimization (PSO) and ACO algorithm is proposed to solve for optimal paths. Firstly, we improve the PSO and adaptively adjust the inertia weight to facilitate the particle search. Besides, we disturb the particles with the chaotic variables to increase the convergence speed. Secondly, the pheromone distribution on the path is adjusted based on the optimal solution of PSO to solve the initial pheromone insufficiency issue in the ACO algorithm. Then, to optimize the update strategy, we adaptively adjust the pheromone intensity values. We also provide a wide range of control schemes for updating the parameters for balancing the search capability and convergence. The results in the simulation environment show that our algorithm is more effective than other improved algorithms. The improved fusion algorithm converges faster and finds shorter optimal path. The method can improve the comprehensive performance and achieve the rapid path planning for mobile robots.