基于侦察蚁和觅食蚁协作的机器人路径规划算法

根据对真实蚂蚁的最新研究成果,提出了一种全新的机器入路径规划蚂蚁算法.该算法由两组侦察蚁采用最近邻侦察搜索策略相向搜索出一条较优路径,再由一组觅食蚁通过在该路径附近觅食实现对该路径的优化,从而得到一条优化的路径.计算机仿真实验结果表明,算法收敛速度提高显著,且在障碍物非常复杂的地理环境,也能迅速规划出最优或基本最优的路径,效果令人满意.

A robot path planning algorithm based on scout ants in collaboration with foraging ants

According to the latest research achievements on actual ants,a new ant algorithm for robot path planning is presented. In the algorithm, two groups of scout ants collaborate to search for a near-optimal path by adopting neighborhood search strategy. Another group of foraging ants are used to optimize the path by foraging in the vicinity of the path, thus an optimal path is achieved. The results of computer simulation experiments show that the convergence speed of the algorithm has been significantly improve...