The Ant Colony Algorithm for Uneven Distribution of Initial Pheromones

The equivalent distribution of initial pheromones in ant colony algorithm leads to its poor convergence and slow convergence speed in mobile robot path planning. Therefore, an improved ant colony algorithm based on uneven distribution of initial pheromones is proposed. The core idea of the initial pheromone uneven distribution strategy is based on two-way search, and according to the information of the first obstacle near the starting point and the end point, the initial pheromone enhancement region is constructed, so as to reduce the blindness of initial retrieval and improve the convergence performance of the algorithm. The simulation results show that the improved ant colony algorithm based on the initial pheromone uneven distribution strategy has high search success rate, fast convergence speed, and can improve the quality of early search path.