西安工程大学学报2024，Vol.38Issue(3)：100-108,9.DOI:10.13338/j.issn.1674-649x.2024.03.014
基于避障寻优改进蚁群算法的机器人路径规划
Robot path planning based on obstacle avoidance optimization and improved ant colony algorithm
摘要
Abstract
Aimed at the problems of slow convergence speed and redundant planning paths in the processing of path planning by ant colony algorithm,an improved ant colony algorithm based on obstacle avoidance information and fast optimization search strategy was proposed.In order to improve the first search efficiency and accuracy of the ant colony,the Chebyshev distance was in-troduced to improve the distance heuristic function,and the guidance of the target point to the ro-bot was enhanced in the transfer probability.The adaptive transfer probability was used to adjust the selection method of nodes during path planning and the setting of initial pheromones based on the distribution of obstacles around the nodes,and the percentage that the ants generate effective paths for the first time increased from 60%to 92%.The garbage information of the generated paths was removed,increasing the pheromone concentration of the optimal path nodes,balancing the local and global searching ability of the ant colony,and speeding up the optimal path.By smoothing the generated paths,the number of robot turns was reduced and the path distance was shortened.The algorithms SSA,ACO,IACO,and I-ACO were selected for performance testing on three grid environments.The results show that the improved ACO algorithm outperforms the other algorithms on path optimization.关键词
机器人路径规划/避障寻优/蚁群优化算法/栅格地图/路径平滑Key words
robot path planning/obstacle avoidance optimization/ant colony optimization algo-rithm/grid map/path smoothing分类
计算机与自动化引用本文复制引用
贺兴时,陈慧园..基于避障寻优改进蚁群算法的机器人路径规划[J].西安工程大学学报,2024,38(3):100-108,9.基金项目
陕西省自然科学基础研究计划(2023-JC-YB-064) （2023-JC-YB-064）
