基于改进蚁群算法移动机器人的路径规划

针对基本蚁群算法存在收敛速度慢,计算周期长,易死锁等问题,提出了蚂蚁回退、蚂蚁相遇、带交叉点的路径交叉的改进算法。通过随机数引入和状态转移概率的应用,平衡了各路径信息素,从而有效地避免陷入局部最优,使得算法在收敛速度和执行效率上得到有效提高。

Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

According to the basic ant colony algorithm for the existence of slow convergence,computing long-term and easy to deadlock and so on,back to the ant,ants encounter with cross-point improvement in cross-path algorithm.Random numbers through the introduction and application of state transition probability,balance of the pheromone path so as to effectively avoid the local optimum,the algorithm in convergence speed and implementation of effective to increase efficiency.