| 自适应蚁群算法在空间机器人路径规划中的应用 |
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| 引用本文： | 金飞虎,高会军,钟啸剑.自适应蚁群算法在空间机器人路径规划中的应用[J].哈尔滨工业大学学报,2010,42(7):1014-1018. |
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| 作者姓名： | 金飞虎 高会军 钟啸剑 |
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| 作者单位： | 哈工大航天学院惯导中心,哈尔滨工业大学空间控制与惯性技术研究中心,黑龙江生物科技职业学院信息工程系 |
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| 基金项目： | 国家自然科学基金（60825303） |
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| 摘 要： | 为了弥补传统路径规划方法缺乏足够鲁棒性的问题,采用自适应蚁群算法实现了空间机器人路径规划.针对传统蚁群算法在计算初期出现停滞的现象,修改了信息激素物质的更新方法.自适应蚁群算法根据学习次数和与最近障碍物的距离来调节信息激素物质.仿真结果表明,该算法在采用较少蚂蚁的情况下,与一般蚁群算法相比,能够快速找到理想路径.
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| 关 键 词： | 蚁群算法 空间机器人 路径规划 |
| 收稿时间： | 5/5/2009 12:00:00 AM |
Research on path planning of robot using adaptive ant colony system |
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| JIN Fei-hu,GAO Hui-jun and ZHONG Xiao-jian.Research on path planning of robot using adaptive ant colony system[J].Journal of Harbin Institute of Technology,2010,42(7):1014-1018. |
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| Authors: | JIN Fei-hu GAO Hui-jun and ZHONG Xiao-jian |
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| Affiliation: | Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China;Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China;Dept.of Information Engineering,Heilongjiang Vocational College of Biology Science and Technology,Harbin 150025,China |
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| Abstract: | Aimed at the less robustness of conventional path planning method, an adaptive ant colony algorithm is presented to realize the path planning of space robot. The ant colony algorithm modifies the updating method of pheromone based on the distance between the learning times and the closest obstacle to reduce the stagnation behavior of the conventional ant colony algorithm in the initial calculation. Simulation results show that the proposed algorithm can obtain better path with less ants than the conventional ant colony system. |
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| Keywords: | ant colony algorithm space robot path planning |
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