Robot path planning method based on combination of particle swarm, ant colony and A-Star algorithms

The invention belongs to the technical field of path planning, and discloses a robot path planning method based on the combination of a particle swarm, an ant colony and an A-Star algorithm, and the method comprises the steps: generating a grid map, obtaining the positions of an obstacle and a feasible region in the grid map, constructing a reachable distance matrix, and carrying out the calculation of the reachable distance matrix; determining an initial position and a target position of each robot in the robot cluster in the grid map; and performing path optimization planning on the robot cluster based on the reachable distance matrix and the initial position and the target position of the robot in the grid map by using a particle swarm and ant colony combination algorithm and an A-Star algorithm to obtain an optimal path. According to the invention, the robot obstacle avoidance path is optimized by combining the ideas of the ant colony algorithm, the algorithm and the simulated annealing algorithm on the b