基于分布式环境下的机器人的路径规划及实现

在研究机器人的运动规划中发现,分布式环境中路径规划问题是一个很复杂的问题。该文通过基于Snake模型的蚁群优化算法,顺利解决了这一难题。文中根据Snake的特点构建了一种新的蚁群求解算法,在分布式环境中可以顺利解决在有固定障碍物的情况下的最优路径的搜索问题。并且,结合我们本身的实验环境,我们在对上述算法稍微进行了一些修改后．使这种算法可以在我们的嵌入式硬件平台上运行,最终验证了这种算法的可行性和稳定性。

A Snake Model Based on Ant Colony Optimization for Robot Path Planning in the Distributed Environment

It is found that path planning in the distributed environment is a very complex problem in the Robot motion planning.In this paper, we use the ant colony optimization algorithm based on the Snake model, resolved this problem successfully.This algorithm providing a new approach path, is the best in the search procedure.It also resolved the problem in the case of a fixed obstruction in a distributed environment.However, we carried out the above-mentioned algorithm combined with our lab environment.This algori...