计算机工程与应用2012，Vol.48Issue(22)：244-248,5.DOI:10.3778/j.issn.1002-8331.2012.22.049
一种动态窗口下改进的机器人路径规划
Improved method of robotic oath planning in pynamic window
陈光明 1曾碧 1吕凌1
作者信息
- 1. 广东工业大学计算机学院,广州510006
- 折叠
摘要
Abstract
A method of dynamic window of candidate solution is proposed in this paper for path planning using ant colony algorithm. The method divides the window in which candidate solutions are distributed firmly and uniformly into several blocks, and then lets candidate solutions simulate the special ants to choose a certain block with a certain probability according to the heuristic and the sum of pheromone of the upper connection of all candidate solutions after several iteration of ant colony algorithm. Finally, candidate solutions and pheromone in every blocks are reallocated, so that solution can be refined. Ultimately, ant colony can search a best solution of path. Simulation experiments and comparison results show that the performance of dynamic window of candidate solution is better than the fixed window of candidate solution.关键词
动态候选解窗口/蚁群算法/路径规划Key words
dynamic window of candidate solution/ ant colony algorithm/ path planning分类
信息技术与安全科学引用本文复制引用
陈光明,曾碧,吕凌..一种动态窗口下改进的机器人路径规划[J].计算机工程与应用,2012,48(22):244-248,5.
