电子学报2011，Vol.39Issue(5)：1220-1224,5.
基于改进蚁群算法的移动机器人动态路径规划方法
Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm
摘要
Abstract
The dynamic path planning for mobile robot based on improved ant colony optimization algorithm is iresented.Firstly, to increase the convergece speed, the heuristic fuction modified adaptively according to the target point is proposed. To avoid the local optimum, the rule updating the pheromone based on the assignment rule of wolf colony is proposed. Secondly,to optimize the performance of the improved ant colony, the important parameters of the improved ant colony optimization algorithm are optimized by the particle swarm optimization. Finally, the dynamic path planning for mobile robot based on imlroved ant colony optimization algorithm is implemented and the simulation experiments are finished. From the results,it can see that the dynamic path planning method is viable and efficient.关键词
移动机器人/路径规划/改进蚁群算法Key words
mobile robot/path planning/imtroved ant colony optimization algorithm分类
信息技术与安全科学引用本文复制引用
柳长安,鄢小虎,刘春阳,吴华..基于改进蚁群算法的移动机器人动态路径规划方法[J].电子学报,2011,39(5):1220-1224,5.基金项目
国家自然科学基金(No.60775058) （No.60775058）
教育部科学技术研究重点项目基金(No.107028) （No.107028）
中央高校基本科研业务费专项基金(No.108G07) （No.108G07）
