BFO-ACO roaming path planning based on multi-constraint scenarios

Abstract

Abstract: In recent years, when the path planning based on ant colony algorithm is used to find the optimal path under multiple constraints, it is easy to fall into the local optimal solution and lead to slow convergence. Under the constraints of path length, number of effective scenic spots, path smoothness and path obstacle distance, this paper constructs a fitness function model to evaluate the quality of roaming path. A hybrid algorithm of bacterial foraging optimization and ant colony optimization (BFO-ACO) is proposed by using the taboo table optimization strategy to solve the deadlock problem in the traditional ant colony algorithm, which improves the path diversity in the early stage of the algorithm. The replication and dispersion mechanism of bacterial foraging algorithm is introduced to improve the convergence speed as well as jump out of the local optimum. Experimental results show that the BFOACO algorithm obtains a higher-quality roaming path with the fewer iterations under multi-constrained environments, which provides the foundation for designing roaming path.