辽宁石油化工大学学报2026，Vol.46Issue(1)：81-87,7.DOI:10.12422/j.issn.1672-6952.2026.01.010
基于改进蚁群算法的混凝土机器人路径规划
Improved Ant Colony Algorithm-Based Concrete Robot Path Planning
摘要
Abstract
To address the challenges of slow convergence,susceptibility to local optima and path redundancy in the path planning of concrete pouring robots in complex construction environments,an improved ant colony algorithm-based path planning optimization method for concrete robots is proposed.First,a new pheromone update mechanism is formulated and the hindsight experience replay(HER)algorithm is applied to define pseudo-target points,thereby addressing the slow convergence and local optimum entrapment issues of conventional ant colony algorithm(ACO).Second,a new obstacle heuristic factor is designed to improve the obstacle avoidance ability of the traditional ant colony algorithm.Third,to solve the limitation of path redundancy in the traditional ant colony algorithm,a curve smoothing function is introduced to eliminate redundant nodes and improve the path quality.Simulation experiments show that the algorithm proposed in this paper has good effectiveness and stability in terms of the shortest path length,the number of turning points and iteration efficiency.关键词
混凝土机器人/路径规划/蚁群算法/伪目标点/事后经验回放算法Key words
Concrete robot/Path planning/Ant colony algorithm/Pseudo-target points/Hindsight experience replay分类
信息技术与安全科学引用本文复制引用
姜涛,许素娟,郎宪明,王怀东,曹江涛..基于改进蚁群算法的混凝土机器人路径规划[J].辽宁石油化工大学学报,2026,46(1):81-87,7.基金项目
国家自然科学基金面上项目(62073158) （62073158）
辽宁省自然科学基金计划面上项目(2023-MS-289) （2023-MS-289）
辽宁省教育厅基本科研项目(JYTMS20231441). （JYTMS20231441）
