App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 6

Mobile robot path planning based on key grid extraction and improved ant colony algorithm

Wang Guodong1,2
Wei Yongle2
Li Yanbiao1
1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
2. College of Mechanical Engineering, Quzhou University, Quzhou Zhejiang 324000, China
DOI: 10.19734/j.issn.1001-3695.2025.10.0416

Abstract

To address the problems of excessive search nodes, poor path quality, slow convergence speed, and susceptibility to local optima in grid-based path planning using ant colony algorithm, this paper proposed an improved ant colony algorithm based on key grid extraction for mobile robot path planning. First, the algorithm extracted key grids to reduce redundant search nodes. Second, it adopted a gradient uneven pheromone initialization strategy to avoid aimless searches during early stage. Then, the heuristic function introduced a target distance cost to enhance path quality, and designed a dynamic adjustment factor to balance convergence speed and global exploration ability. Next, it employed an adaptive transition strategy to avoid falling into the local optimal. Finally, it improved the pheromone update rule based on the “survival of the fittest” theory and dynamically adjusted the pheromone volatilization factor to accelerate convergence speed. Experiments on grid maps of different scales show that the proposed algorithm reduces the path length by up to 27% and decreases the required convergence iterations by up to 83% compared with ant colony algorithm. It also generates smoother paths with fewer turning points and significantly shorter computation time. These results confirm the feasibility and superiority of the proposed method.

Foundation Support

国家自然科学基金资助项目(U21A20122)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.10.0416
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 6

Publish History

[2026-02-25] Accepted Paper

Cite This Article

王国栋, 魏永乐, 李研彪. 基于提取关键栅格与改进蚁群算法的移动机器人路径规划 [J]. 计算机应用研究, 2026, 43 (6). (2026-02-25). https://doi.org/10.19734/j.issn.1001-3695.2025.10.0416. (Wang Guodong, Wei Yongle, Li Yanbiao. Mobile robot path planning based on key grid extraction and improved ant colony algorithm [J]. Application Research of Computers, 2026, 43 (6). (2026-02-25). https://doi.org/10.19734/j.issn.1001-3695.2025.10.0416. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)