现代制造工程Issue(12)：48-53,129,7.DOI:10.16731/j.cnki.1671-3133.2024.12.006
基于学习机制蚁群算法的移动机器人路径规划
Path planning of mobile robot based on learning mechanism ant colony algorithm
摘要
Abstract
A learning mechanism ant colony algorithm was proposed for the path planning problem of mobile robot in U-shaped obstacle environment.Firstly,to solve the problem of long algorithm running time,neighborhood removal was introduced to discard poor and symmetric paths.Secondly,to solve the problem of slow convergence speed,taboo strategies were applied to enable ants to quickly escape U-shaped obstacles.Then,to solve the problem of path deadlock,a learning mechanism was proposed to continu-ously discard deadlocked paths.Finally,a simulation comparison was conducted between the proposed algorithm and other im-proved algorithms.The results showed that the learning mechanism ant colony algorithm not only shortened the running time com-pared to the control group algorithm,but also improved the convergence speed,which verifies superiority of the algorithm.关键词
路径规划/蚁群算法/邻域剔除/学习机制/移动机器人/U型障碍物Key words
path planning/ant colony algorithm/neighborhood removal/learning mechanism/mobile robot/U-shaped obstacle分类
信息技术与安全科学引用本文复制引用
唐宏伟,罗佳强,邓嘉鑫,王军权,石书琪..基于学习机制蚁群算法的移动机器人路径规划[J].现代制造工程,2024,(12):48-53,129,7.基金项目
湖南省自然科学基金项目(2022JJ50205) （2022JJ50205）
湖南省教育厅科研项目(21B0682,21B0676,21C0599) （21B0682,21B0676,21C0599）
湖南省科技计划项目(2016TP1023) （2016TP1023）
邵阳学院研究生科研创新项目(CX2023SY083) （CX2023SY083）
国家级大学生创新创业训练计划项目(202210547018) （202210547018）
