Path Planning of Mobile Robot With Improved Ant Colony Algorithm and MDP to Produce Smooth Trajectory in Grid-Based Environment

Abstract

This approach has been derived mainly to improve quality and efficiency of global path planning for a mobile robot with unknown static obstacle avoidance features in grid-based environment. The quality of the global path in terms of smoothness, path consistency and safety can affect the autonomous behavior of a robot. In this paper, the efficiency of Ant Colony Optimization (ACO) algorithm has improved with additional assistance of A* Multi-Directional algorithm. In the first part, A* Multi-directional algorithm starts to search in map and stores the best nodes area between start and destination with optimal heuristic value and that area of nodes has been chosen for path search by ACO to avoid blind search at initial iterations. The path obtained in grid-based environment consist of points in Cartesian coordinates connected through line segments with sharp bends. Therefore, Markov Decision Process (MDP) trajectory evaluation model is introduced with a novel reward policy to filter and reduce the sharpness in global path generated in grid environment. With arc-length parameterization, a curvilinear smooth route has been generated among filtered waypoints and produces consistency and smoothness in the global path. To achieve a comfort drive and safety for robot, lateral and longitudinal control has been utilized to form a set of optimal trajectories along the reference route, as well as, minimizing total cost. The total cost includes curvature, lateral and longitudinal coordinates constraints. Additionally, for collision detection, at every step the set of optimal local trajectories have been checked for any unexpected obstacle. The results have been verified through simulations in MATLAB compared with previous global path planning algorithms to differentiate the efficiency and quality of derived approach in different constraint environments.