计算机与数字工程2024，Vol.52Issue(4)：1061-1067,7.DOI:10.3969/j.issn.1672-9722.2024.04.018
基于改进蚁群算法的导览机器人平滑路径规划
Smooth Path Planning of Navigation Robot Based on Improved Ant Colony Algorithm
张志荣 1齐款款 1张赫 2岳万通 1王玉华1
作者信息
- 1. 兰州理工大学电气工程与信息工程学院 兰州 730050
- 2. 西安翔腾微电子科技有限公司 西安 710068
- 折叠
摘要
Abstract
In order to solve the shortcomings of the traditional ant colony algorithm in the path planning of navigation robot,such as many path inflection points,non-shortest planned path and great blindness of path search,an improved ant colony algo-rithm is proposed.Firstly,the grid map is used to simulate the running environment of the navigation robot,and the 16 direction 24 neighborhood search strategy of two-way search of starting point and ending point is adopted to increase the search direction,ex-pand the search field of ants and improve the global search ability.Then,the information of the starting point,the current node,the next node and the end point is added to the heuristic function to increase the pertinence of searching the path.In addition,pseu-do-random state transition strategy and dynamically adjusted pheromone volatilization coefficient are introduced to improve the con-vergence speed and avoid premature convergence of the algorithm.Finally,cubic B-spline curve is used to smooth the above path.On the simulation platform,compared with other algorithms,the effectiveness and superiority of this algorithm in different complexi-ty environment maps are verified.关键词
移动机器人/路径规划/蚁群算法/双向路径搜索/24邻域路径搜索Key words
mobile robot/path planning/ant colony algorithm/bidirectional path search/24 neighborhoods path search分类
信息技术与安全科学引用本文复制引用
张志荣,齐款款,张赫,岳万通,王玉华..基于改进蚁群算法的导览机器人平滑路径规划[J].计算机与数字工程,2024,52(4):1061-1067,7.
