电子科技大学学报Issue(2)：260-265,6.DOI:10.3969/j.issn.1001-0548.2015.02.017
动态环境下基于改进蚁群算法的机器人路径规划研究
Research of Improved Ant Colony Based Robot Path Planning Under Dynamic Environment
摘要
Abstract
This paper presents an improved ant colony algorithm for mobile robot path planning under dynamic complex conditions based on prior knowledge of global static environment. On the basis of conventional ant colony algorithm, by adjusting the transition probability, limiting the bounds of pheromone, and introducing relevant strategy to solve the deadlock problem, the improved ant colony algorithm not only can avoid the blindness of early planning and increase the diversity of solutions, but also can improve global search capability of the algorithm, and further reduce the possibility of algorithm prematurity as well. During the planning process, according to the direction changes of the dynamic obstacles, corresponding collision avoidance strategies are put forward. The Follw_wall behavior is introduced for unexpected situations in the environment. Simulation results show that the proposed algorithm is superior to conventional ant colony algorithm. It can effectively guide the mobile robot to avoid dynamic obstacles. Thus obtains a collision free optimal or suboptimal path, which adapts to the changes of the environment more effectively.关键词
蚁群算法/动态复杂环境/移动机器人/路径规划Key words
ant colony algorithm/dynamic complex environment/mobile robot/path planning分类
信息技术与安全科学引用本文复制引用
屈鸿,黄利伟,柯星..动态环境下基于改进蚁群算法的机器人路径规划研究[J].电子科技大学学报,2015,(2):260-265,6.基金项目
国家自然科学基金(61273308)；中央高校基本科研业务费(ZYGX2012J068) （61273308）
