UNMANNED BICYCLE PATH PLANNING METHOD BASED ON ANT COLONY ALGORITHM AND POLAR COORDINATE TRANSFORMATION

摘要

An unmanned bicycle path planning method based on an ant colony algorithm and polar coordinate transformation, comprising the following steps: (1) performing environment modeling by using a grid method; (2) setting detailed parameters of an ant colony algorithm; (3) setting the length of a polar coordinate, a maximum detection angle, and a minimum angle; (4) performing ant colony initialization, and setting a pheromone position range and speed ranges; (5) performing transformation between the polar coordinate and a rectangular coordinate, determining whether pheromones are effective until ensuring that all the pheromones are effective, and checking pheromone positions and obstacle positions; (6) calculating the fitness value of each pheromone and performing processing; (7) comparing a minimum value in a historical optimal fitness value array of the pheromones with a current global historical optimal value and performing processing; (8) updating position and speed information of the pheromones; (9) comparing an optimal pheromone value of this iteration with a previous result and performing processing; and (10) performing smoothing after performing a maximum number of iterations, modifying a path, and displaying the result.