森林工程2024，Vol.40Issue(1)：152-159,8.DOI:10.3969/j.issn.1006-8023.2024.01.018
改进蚁群算法的森林防火移动机器人路径规划
Forest Fire Prevention Mobile Robot Path Planning Based on Improved Ant Colony Algorithm
摘要
Abstract
To solve the problem of optimal path planning for forest fire prevention mobile robots in forest terrain conditions,an im-proved ant colony algorithm based on extended neighborhood was proposed.Firstly,the plan of directional extended neighborhood was introduced,and the search neighborhood was extended from 8 to 10,which was in an attempt to expand search efficiency and scope.Then,considering multiple factors that affect the mobile robot,path length and energy consumption were used to improve heuristic functions.Next,the initial pheromone was improved by incorporating location information.Finally,the advantages of the Max-Min Ant System(MMAS)and the elite ant model were combined to improve the pheromone updating rule.Results indicated that the proposed improved algorithm compared with traditional ant colony algorithm and the ant colony algorithm based on multiple inspired factor,which can shorten the path length by 7.66% and 6.53%,reduce energy consumption by 62.2% and 49.3%,decrease the comprehensive in-dex by 32.6% and 23.1%.The research demonstrated that the proposed improved ant colony algorithm had stronger global search ca-pabilities and considerable practical value.关键词
拓展邻域/路径规划/蚁群算法/移动机器人/森林防火Key words
Extended neighborhood/path planning/ant colony algorithm/mobile robot/forest fire prevention分类
农业科技引用本文复制引用
杨松,洪涛,朱良宽..改进蚁群算法的森林防火移动机器人路径规划[J].森林工程,2024,40(1):152-159,8.基金项目
中央高校基本科研业务费专项资助基金项目(DL12BB10-11). （DL12BB10-11）
