计算机工程与应用2012，Vol.48Issue(15)：245-248,4.DOI:10.3778/j.issn.1002-8331.2012.15.050
基于惯性蚁群算法的机器人路径规划
Path planning for mobile robot based on inertia ant algorithm
摘要
Abstract
Ant colony algorithm for mobile robot under grid environment is defective in slow running, many broken lines, frequent turning points and local optimum. In order to obtain optimum path, this paper presents the inertia ant algorithm. Based on the initial path planned by traditional ant colony algorithm, the inertia principle is used to traverse all the nodes on initial path, deleting intermediate node when there is no obstacle existing between the two nodes and changing for optimum path. On the basis of path information, dynamically adjusting the pheromone evaporation coefficient, it can improve environmental adaptation performance of ant colony algorithm. The simulation results show that the inertia ant algorithm can quicker find the optimum path, and it can effectively optimize path quality.关键词
惯性蚁群算法/路径规划/信息素挥发系数Key words
inertia ant algorithm/path planning/pheromone evaporation coefficient分类
信息技术与安全科学引用本文复制引用
何少佳,刘子扬..基于惯性蚁群算法的机器人路径规划[J].计算机工程与应用,2012,48(15):245-248,4.基金项目
广西科学研究与技术开发计划课题(No.10100022-8) （No.10100022-8）
广西制造系统与先进制造技术重点实验室课题(No.0842006_020_Z). （No.0842006_020_Z）
