机械与电子2016，Vol.34Issue(5)：73-76,4.
基于改进蚁群算法激光导航轮式机器人路径规划
Path Planning for Laser Navigation Wheeled Robots Based on Improved Ant Colony Algorithm
摘要
Abstract
This article puts forward an improved ant colony algorithm to deal with the problems of long planning path and low convergence rate present in the primal algorithm for path planning for the laser navi-gation wheeled robots in a complex environment.In actual algorithms,the graph theory of MAKLINK is used to establish the space model of the operating environment of AGV.Then the Dijkstra algorithm is used to search the optimal path,and the ant colony algorithm is used to search the optimal path based on Dijkstra.In the improved ant colony algorithm,by judging whether angle between previous and latter node is same or little different to angle between original and terminal node,the next node will be the latter one, thus obtaining new strategy of updated pheromone and allowing initialization of angle and calculation of pheromone.Finally,the whole algorithm is written on Matlab and simulated results are obtained.Results show that the path optimization performance in the improved ant colony algorithm is better,and has guid-ing significance in path planning for laser navigation wheeled robots in the real environment.关键词
激光导航轮式机器人/路径规划/改进蚁群算法/MatlabKey words
laser navigation wheeled robots/path planning/improved ant colony algorithm/Matlab分类
信息技术与安全科学引用本文复制引用
文生平,张磊,刘其信..基于改进蚁群算法激光导航轮式机器人路径规划[J].机械与电子,2016,34(5):73-76,4.基金项目
广州市科技计划项目(2015B090901020,201508010058) （2015B090901020,201508010058）
