| 基于蚁群系统的机器人全局最优路径规划的研究与仿真 |
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| 引用本文： | 周菁,戴冠中,蔡晓妍.基于蚁群系统的机器人全局最优路径规划的研究与仿真[J].计算机科学,2010,37(5):171-174. |
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| 作者姓名： | 周菁 戴冠中 蔡晓妍 |
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| 作者单位： | 西北工业大学自动化学院,西安,710072 |
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| 摘 要： | 基于蚁群系统,以可见性图作为路线图,采用CAS(complex adaptive system)理论自底向上的建模思想,构造主动的、适应性的蚂蚁主体ant-agent,依靠多ant-agent之间的协同、合作去完成自主移动机器人的全局最优路径规划任务。在环境中演化着的ant-agent具有自身的内部结构和行动规则,多ant-agent聚集成人工蚁群,通过人工信息素进行间接通信,涌现出了进行路径规划的群集智能。
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| 关 键 词： | 蚁群系统 可见性图 复杂适应系统 全局路径规划 移动机器人 |
| 收稿时间： | 7/1/2009 12:00:00 AM |
| 修稿时间： | 2009/9/13 0:00:00 |
Research and Simulating of Global Optimal Path Planning of Mobile Robot Based on Ant Colony System |
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| ZHOU Jing,DAI Guan-zhong,CAI Xiao-yan.Research and Simulating of Global Optimal Path Planning of Mobile Robot Based on Ant Colony System[J].Computer Science,2010,37(5):171-174. |
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| Authors: | ZHOU Jing DAI Guan-zhong CAI Xiao-yan |
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| Affiliation: | College of Automation/a>;Northwestern Polytechnical University/a>;Xi'an 710072/a>;China |
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| Abstract: | The purpose of this paper is to construct active,adaptive ant-agents by bottom-up modeling ideas of CAS theo-ry and rely on the cooperation between them to complete the task of global path planning of autonomous mobile robot based on ant colony system when using visibility graph as a route map.The ant-agent evolving in the environment incessantly has its own internal structure and behavior rules.Multiple ant-agents gathered into an artificial ant colony,communicated inside in the way of stimergy by pheromon... |
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| Keywords: | Ant colony system Complex adaptive system Global path planning Mobile robot |
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