现代制造工程Issue(6)：58-66,10,10.DOI:10.16731/j.cnki.1671-3133.2025.06.006
基于麻雀搜索-蚁群算法的移动机器人路径规划研究
Mobile robot path planning based on sparrow search-ant colony algorithm
摘要
Abstract
To address the issues of long optimal paths and slow convergence speed in traditional ant colony algorithm for path planning applications,a mobile robot path planning method based on the sparrow search-ant colony algorithm is proposed.In the sparrow search-ant colony algorithm,the sparrow search algorithm is first used to generate a suboptimal path which is then used to establish the initial pheromone distribution for the ant colony algorithm.Next,in the calculation of state transition probability,the heuristic function of the A* algorithm,a bending constraint factor,and a distance weight coefficient are introduced to make the state transition probability selected by the ant colony algorithm optimal at each node,thereby shortening the optimal path.Finally,in the pheromone update strategy,an adaptive pheromone update strategy based on iteration,angle factors,and a reward-punish-ment mechanism is employed to accelerate the convergence speed of the ant colony algorithm.According to the simulation results,the suggested method could produce high-quality optimal solutions while simultaneously decreasing the number of turns and in-creasing convergence speed when compared to alternative approaches.The suggested method has further confirmed its stability and practicability in complex contexts by demonstrating notable improvements in path smoothness and robustness to adapt to com-plex maps.关键词
蚁群算法/路径规划/状态转移概率/信息素更新策略Key words
ant colony algorithm/path planning/state transition probability/pheromone update strategy分类
计算机与自动化引用本文复制引用
董建林,官源林,程琪,许广胜,王体晨..基于麻雀搜索-蚁群算法的移动机器人路径规划研究[J].现代制造工程,2025,(6):58-66,10,10.基金项目
国家自然科学基金项目(52375348) （52375348）
青岛市自然科学基金项目(23-2-1-216-zyyd-jch,23-2-1-125-zyyd-jch) （23-2-1-216-zyyd-jch,23-2-1-125-zyyd-jch）
山东省高等学校科技计划项目(J17KA055,J17KA047) （J17KA055,J17KA047）
