机械与电子Issue(7)：61-64,4.
基于改进蚁群算法的障碍环境下路径规划研究
Study of Path Planning in Obstacle Environment Based on an Improved Ant Algorithm
摘要
Abstract
In order to solve the problem of finding the shortest path to a specific target for robots,this paper presented a novel path planning method based on improved ant colony algorithm.The method made the ant have local path thinking ability by endowing it with sense of direction similar to human beings.The thought of combining deterministic selection and random selection,as well as adaptive adjustment strategy of deterministic selection probability and pheromone evaporation coefficient,were also adopted.These means greatly improved the global search ability of the ant colony algorithm and accelerated the search speed,as well as improved its ability to find optimal solution.In the simulation environment based on grid map,under different conditions of problem size and obstacle distribution,the method could always find the optimization results and meet the speed requirement for real-time path planning.关键词
路径规划/障碍环境/改进蚁群算法Key words
path planning/ obstacle environment/improved ant colony algorithm分类
信息技术与安全科学引用本文复制引用
徐利超,张世武..基于改进蚁群算法的障碍环境下路径规划研究[J].机械与电子,2013,(7):61-64,4.基金项目
中国科学院科技创新基金项目(CXJJ-10-M16) （CXJJ-10-M16）
