燕山大学学报2017，Vol.41Issue(3)：278-282,5.DOI:10.3969/j.issn.1007-791X.2017.03.012
基于平滑蚁群算法的机器人路径规划
Mobile robot path planning based on smoothing ant colony algorithm
摘要
Abstract
Path planning for mobile robot by ant colony algorithm is flaw with frequently turning points, large cumulative turning angle under grid environment.Smoothing ant colony algorithm is proposed to solve these problems.Smoothing ant colony algorithm is based on the optimal path planned by ant colony algorithm, connecting the current node and the nodes after the turning point, deleting original node and replacing the initial path by the new line as no obstacles existing on the line.Otherwise, the current path is not modified.The simulation results show that smoothing ant colony algorithm exceeds immune genetic algorithm and ant colony optimization and artificial potential. Length, total turning points and cumulative turning angle of path are almost reduced when smoothing ant colony algorithm is adopted. Path planning problem under different complex environment with different obstacles distribution can be achieved by smoothing ant colony algorithm.关键词
移动机器人/路径规划/平滑蚁群算法/障碍物/栅格地图Key words
mobile robot/path planning/smoothing ant algorithm/obstacles/grid map分类
信息技术与安全科学引用本文复制引用
王红君,徐军,赵辉,岳有军..基于平滑蚁群算法的机器人路径规划[J].燕山大学学报,2017,41(3):278-282,5.基金项目
天津市科技计划项目(15ZXZNGX00290) （15ZXZNGX00290）
天津市农业科技成果转化与推广项目(201203060,201303080) （201203060,201303080）
