现代制造工程Issue(5)：44-48,5.DOI:10.16731/j.cnki.1671-3133.2017.05.009
移动机器人路径规划中的蚁群优化算法研究
Research of improved ant colony optimization in mobile robot path planning
摘要
Abstract
Aiming at solving defects such as slow convergence speed,low efficiency,frequent local optimum,and even the emergence of deadlock in the path planning of introducing the traditional ant colony algorithm into mobile robots,an advanced ant colony algorithm is proposed,which establishes the working environment of the robot by grid method,improves updating mode of informarion pheromone,sets the pheromone concentration threshold,introduces treatment strategy of deadlock,and thus improves the state transition probability and increases the diversity of solutions.Simulation tests for mobile robot path planning are carried out in the grid environment.The results of simulation tests show that the improved ant colony algorithm can narrow the search scope of the optimal path and reduce the number of iterations,improve the search efficiency of the optimal solution,and can obtain the global optimum collision-free path.关键词
路径规划/移动机器人/蚁群算法/栅格法/最优路径Key words
path planning/mobile robot/ant colony algorithm/grids/optimal path分类
信息技术与安全科学引用本文复制引用
左大利,聂清彬,张莉萍,丁度坤..移动机器人路径规划中的蚁群优化算法研究[J].现代制造工程,2017,(5):44-48,5.基金项目
东莞职业技术学院院级基金课题项目(2015c13) （2015c13）
重庆市前沿与应用基础研究计划一般资助项目(cstc2014jcyjA40049) （cstc2014jcyjA40049）
