计算机工程与应用2019，Vol.55Issue(17)：35-43,9.DOI:10.3778/j.issn.1002-8331.1903-0401
自适应蚁群算法的移动机器人路径规划
Mobile Robot Path Planning Based on Adaptive Ant Colony Algorithm
摘要
Abstract
As for original ant colony algorithm using in mobile robot path planning, there are problems such as the convergence speed and searching ability existing unbalance, falling into local optimum easily and so on. In this paper, an adaptive improved ant colony algorithm is proposed. Firstly, in order to improve convergence speed of the algorithm, in the grid environment the initial pheromone is differentiate distributed according to the characteristics of the optimal path and the basic parameters of the actual environment. Secondly, in order to raise the efficiency of ants search, the turn-angle heuristic information is introduced into the state transition probability and the path heuristic information is improved. Thirdly, it reformulates the strategy of pheromone renewal, sets the iteration threshold, and the pheromone volatilization coefficients and pheromone concentration are adjusted, so that at the later stage of iteration, the algorithm still has a strong ability to search for the optimal solution. Finally, the piecewise third-order Besizer curve is used to smooth the optimal path to meet the actual motion requirements of the robot. The feasibility, effectiveness and superiority of the improved algorithm are verified by comparing with other algorithms.关键词
移动机器人/路径规划/蚁群算法/信息素差异化Key words
mobile robot/path planning/ant colony algorithm/pheromone differentiation分类
信息技术与安全科学引用本文复制引用
封声飞,雷琦,吴文烈,宋豫川..自适应蚁群算法的移动机器人路径规划[J].计算机工程与应用,2019,55(17):35-43,9.基金项目
国家自然科学基金(No.51205429) （No.51205429）
国家工信部绿色制造系统集成项目(No.CCLS-JB-002) （No.CCLS-JB-002）
国家工信部智能制造综合标准化与新模式应用项目. （）
