| 均分点蚁群算法在群集机器人任务规划中的应用与研究 |
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| 引用本文： | 余伶俐,蔡自兴,刘晓莹,高平安.均分点蚁群算法在群集机器人任务规划中的应用与研究[J].高技术通讯,2009,19(10). |
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| 作者姓名： | 余伶俐 蔡自兴 刘晓莹 高平安 |
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| 作者单位： | 中南大学信息科学与工程学院,长沙,410083 |
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| 摘 要： | 提出了一种求解群集机器人协作任务规划问题的均分点蚁群算法(EDPACA).通过多组蚂蚁群相互协作搜索,构架了一种新蚁群算法的解结构,并设计了更合理的评估函数,使其在评价时充分考虑均衡任务点探测,最后利用2-opt技术解决了各子周游路径的交叉问题,获得了总代价最优的解.该算法将蚁群技术首次应用于集群机器人的任务调度规划中,成功解决了中大规模任务规划问题.仿真实验结果表明,均分点蚁群算法能提高群集机器人执行任务的效率,同时也是解决多旅行商问题的另种新思路.
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| 关 键 词： | 蚁群算法 群集机器人 任务规划 |
Application and research on swarm robots mission planning using equal division point ant colony algorithm |
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| Yu Lingli,Cai Zixing,Liu Xiaoying,Gao Pingan.Application and research on swarm robots mission planning using equal division point ant colony algorithm[J].High Technology Letters,2009,19(10). |
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| Authors: | Yu Lingli Cai Zixing Liu Xiaoying Gao Pingan |
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| Affiliation: | Yu Lingli,Cai Zixing,Liu Xiaoying,Gao Pingan(School of Information Science & Engineering,Central South University,Changsha 410083) |
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| Abstract: | An equal division point ant colony algorithm (EDPACA) was proposed to solve the swarm-robot mission planning problem.Firstly,the algorithm was designed by a novel solution construction through multi-group ants'cooperative search,and a more reasonable evaluation function which sufficiently considered the equal division mission point factor. Secondly,the crossover problems of sub-circular paths were solved by the 2-opt method.It is the first time to apply an ant colony algorithm to swarm-robot mission plannin... |
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| Keywords: | ant colony algorithm swarm-robot mission planning |
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