机械科学与技术2024，Vol.43Issue(4)：721-728,8.DOI:10.13433/j.cnki.1003-8728.20220259
U型障碍物多方向多层填充的移动机器人改进蚁群算法
Improved Ant Colony Algorithm for Mobile Robot with Multi-Directional and Multi-Layer Filling of U-Shaped Obstacles
摘要
Abstract
Aiming at the typical deadlock problem of U-shaped obstacles when applying traditional ant colony algorithm in mobile robot path planning,an improved ant colony algorithm with multi-directional and multi-layer filling of U-shaped obstacles is proposed.Firstly,it is proved that the optimal solution of path planning will not enter the U-shaped obstacles;Secondly,it is proved that the multi-directional and multi-layer filling method can fill U-shaped obstacles to solve the deadlock problem without blocking the original path,which has the retention of the original path and has less filling iteration times and total iteration time;After that,the number of iterations of the filling graph is theoretically determined.This filling method is not only suitable for U-shaped obstacles,but also suitable for other filling areas,and it can completely fill the fillable areas;Finally,this filling method is combined with ant colony algorithm to realize mobile robot path planning.The simulation results show that the improved ant colony algorithm is more efficient than the traditional ant colony algorithm.关键词
移动机器人/路径规划/改进蚁群算法/U型障碍物/多方向多层填充法Key words
mobile robot/path planning/improved ant colony algorithm/u-shaped obstacle/multidirectional multilayer filling method分类
信息技术与安全科学引用本文复制引用
陈青桢,龚家宝,于潇雁,邵宇飞..U型障碍物多方向多层填充的移动机器人改进蚁群算法[J].机械科学与技术,2024,43(4):721-728,8.基金项目
国家自然科学基金项目(51741502)、福建省自然科学基金项目(2020J01450)及福建省工业机器人基础部件技术重大研发平台(2014H21010011) （51741502）
