| 基于栅格模型机器人路径规划的改进蚁群算法 |
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| 引用本文： | 王沛栋,冯祖洪.基于栅格模型机器人路径规划的改进蚁群算法[J].计算机应用与软件,2009,26(10):107-110. |
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| 作者姓名： | 王沛栋 冯祖洪 |
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| 作者单位： | 北方民族大学计算机科学与工程学院,宁夏,银川,750021 |
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| 摘 要： | 提出了一种静态环境下机器人路径规划的改进蚁群算法.该算法使用栅格法对机器人的工作空间进行建模,通过模拟蚂蚁的觅食行为,采用折返的迭代方式对目标进行搜索;在搜索过程中,以移动方向一定范围内最大信息素和目标引导函数作为启发式因子;此外,根据蚁群算法处理本问题时信息素散播的特点,重构了信息素的更新策略和散播方式.仿真试验结果表明,改进措施使最优路径的寻找快速而高效,即使在障碍物非常复杂的环境下,算法也能迅速地规划出一条最优路径.
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| 关 键 词： | 机器人 蚁群算法 路径规划 |
AN IMPROVED ANT COLONY ALGORITHM BASED ON GRID MODEL FOR MOBILE ROBOT PATH PLANNING |
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| Wang Peidong,Feng Zuhong.AN IMPROVED ANT COLONY ALGORITHM BASED ON GRID MODEL FOR MOBILE ROBOT PATH PLANNING[J].Computer Applications and Software,2009,26(10):107-110. |
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| Authors: | Wang Peidong Feng Zuhong |
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| Affiliation: | College of Computer Science and Engineering;North Nationality University;Yinchuan 750021;Ningxia;China |
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| Abstract: | An improved ant colony algorithm is provided in this paper for robot path planning under a static environment.In this algorithm the model of robot's workspace is established with grid method,and for target searching it uses foldback iterative method and simulates the foraging behaviour of the ant colony.During the searching process we use maximum pheromone in a moving direction range and a goal guiding function as the heuristic factors.Furthermore,according to the features of the pheromone strewing when sol... |
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| Keywords: | Robot Ant colony algorithm Path planning |
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