Whether search directions number affects the efficiency of the path planning algorithm: Taking an improved ACO algorithm with 32 directions for example.

An improved Ant Colony Optimization (ACO) algorithm, named IACO, is proposed to address the inherent limitation of slow convergence, susceptibility to local optima and excessive number of inflection in traditional ACO when solving path planning problems. To this end, firstly, the search direction number is expanded from 4 or 8 into 32; Secondly, the distance heuristic information is replaced by an area heuristic function, which deviated from the traditional approach that only considers pheromone information between two points; Then, the influence of path angle and number of turns is taken into account in the local pheromone update. Additionally, a reward and punishment mechanism is employed in the global pheromone update to adjust the pheromone concentrations of different paths; Furthermore, an adaptive update strategy for pheromone volatility factor adaptive is proposed to expand the search range of the algorithm. Finally, simulation experiments are conducted under various scenarios to verify the superiority and effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]