机械制造与自动化2017，Vol.46Issue(6)：155-157,192,4.DOI:10.19344/j.cnki.issn1671-5276.2017.06.043
基于改进蚁群算法的移动机器人全局路径规划方法研究
Research on Mobile Robot Global Path Planning Based on Improved Ant Colony Algorithm
杨萍 1赵珍 1郑海霞1
作者信息
- 1. 兰州理工大学机电工程学院,甘肃兰州730050
- 折叠
摘要
Abstract
An improved ant colony algorithm is proposed in view of the shortcomings of slow rate of convergence of the traditional colony algorithm in the mobile robot global path planning and that it is easy to fall into the local optimal solution.The idea adjusting the self-adaptive heuristic function according to the target point in A* algorithm is applied to the ant colony algorithm which is used to construct the heuristic function.The state selection policy is improved to increase the diversity of the solution.The mixed pheromones distribution mechanism is used to improve the convergence speed of the algorithm.The simulation experiments of the mobile robot global path planning based on the traditional ant algorithms and improved ant algorithms are implemented under the same experimental environment.Experimental results demonstrate the effectiveness and superiority of the improved algorithm.关键词
移动机器人/路径规划/蚁群算法/自适应/改进算法Key words
mobile robot/path planning/ant colony algorithm/self-adaptive/improved method分类
信息技术与安全科学引用本文复制引用
杨萍,赵珍,郑海霞..基于改进蚁群算法的移动机器人全局路径规划方法研究[J].机械制造与自动化,2017,46(6):155-157,192,4.
