Title:
UNMANNED BICYCLE PATH PLANNING METHOD BASED ON ANT COLONY ALGORITHM AND POLAR COORDINATE TRANSFORMATION
Document Type and Number:
WIPO Patent Application WO/2018/176595
Kind Code:
A1
Abstract:
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.
Inventors:
WU JIAN GUO (CN)
Application Number:
PCT/CN2017/084509
Publication Date:
October 04, 2018
Filing Date:
May 16, 2017
Export Citation:
Assignee:
SHENZHEN JING ZHOU TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN103472828A | 2013-12-25 | |||
| CN103336526A | 2013-10-02 | |||
| CN103823466A | 2014-05-28 | |||
| CN106200650A | 2016-12-07 | |||
| CN103439972A | 2013-12-11 | |||
| US20090149990A1 | 2009-06-11 |
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