计算机工程与应用2016，Vol.52Issue(13)：60-63,130,5.DOI:10.3778/j.issn.1002-8331.1407-0564
复杂环境移动机器人路径规划的改进蚁群算法
Improved ant colony algorithm of path planning for mobile robot under complex environment.
摘要
Abstract
For the shortcomings of easy to fall into the path deadlocks, an improved ant colony algorithm is proposed to plan the optimal collision-free path for a mobile robot in a complex environment. Firstly, grid model of the robot environ-ment is established, and an array of element point to the previous is employed to enhance the escaping capability of algo-rithm. It utilizes the pheromone released by the worst ant to update the pheromone, which is conducive to the evolution of the colony. The main parameters'influence on the performance of the algorithm is analyzed. Simulation results show that the optimal collision-free path on the complex map obtained by this algorithm is superior to the traditional algorithm.关键词
移动机器人/路径规划/蚁群算法/栅格法Key words
mobile robot/path planning/ant colony algorithm/grids分类
信息技术与安全科学引用本文复制引用
刘锴,游晓明,刘升..复杂环境移动机器人路径规划的改进蚁群算法[J].计算机工程与应用,2016,52(13):60-63,130,5.基金项目
国家自然科学基金(No.61075115 ) （No.61075115 ）
上海市教委科研创新重点项目(No.12ZZ185) （No.12ZZ185）
上海市学科专业建设项目(No.XKCZ1212) （No.XKCZ1212）
研究生科研创新课题(No.14KY0210). （No.14KY0210）
