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| 移动机器人路径规划的参数模糊自适应窗口蚁群优化算法 | |
| 引用本文： | 赵娟平,高宪文,刘金刚,符秀辉.移动机器人路径规划的参数模糊自适应窗口蚁群优化算法[J].控制与决策,2011,26(7):1096-1100. |
| 作者姓名： | 赵娟平 高宪文 刘金刚 符秀辉 |
| 作者单位： | 1. 东北大学信息科学与工程学院,沈阳110819 沈阳化工大学信息工程学院,沈阳110142 2. 东北大学信息科学与工程学院,沈阳,110819 3. 沈阳化工大学信息工程学院,沈阳110142 中国科学院沈阳自动化研究所,沈阳110015 |
| 基金项目： | 国家自然科学基金项目(60334010) |
| 摘 要： | 针对蚁群算法存在的不足,提出一种改进蚁群优化算法——参数模糊自适应窗口蚁群优化算法.首先利用模糊控制优化α,β和ρ参数,同时为蚂蚁建立动态搜索窗口,在为每只蚂蚁建立近邻城市表时加入混沌信息,并据此进行初始信息素分布.另外,引入了城市节点活跃度的概念,并将其作为未来信息,用以指导蚂蚁进行解的构造和信息素更新.仿真结果表明,即使在复杂的环境下,所提出的算法仍能快速规划出安全的最优路径. |
| 关 键 词： | 移动机器人 路径规划 蚁群优化算法 模糊控制 动态窗口 活跃度 参数优化 |
| 收稿时间： | 2010/6/8 0:00:00 |
| 修稿时间： | 2010/8/10 0:00:00 |
Parameters self-adaptive fuzzy ant colony optimization algorithm with searching window for path planning of mobile robot |
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| ZHAO Juan-ping,GAO Xian-wen,LIU Jin-gang,FU Xiu-hui.Parameters self-adaptive fuzzy ant colony optimization algorithm with searching window for path planning of mobile robot[J].Control and Decision,2011,26(7):1096-1100. | |
| Authors: | ZHAO Juan-ping GAO Xian-wen LIU Jin-gang FU Xiu-hui |
| Affiliation: | ZHAO Juan-ping~(1,2),GAO Xian-wen~1,LIU Jin-gang~1,FU Xiu-hui~(2,3) (1.College of Information Science and Technology,Northeastern University,Shenyang 110819,China,2.College of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142,3.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110015,China. |
| Abstract: | paper. Firstly, this method designs fuzzy controllers to optimize three parameters of ??, ?? and ??. It also establishes a dynamic search window for ants, and chaos information is added when near neighbor city table is constituted. In addition, the concept of active degree of city node is presented as future information supervising ants to construct solution and update pheromone. Simulations results show that the proposed algorithm can plan optimal path rapidly even in the intricate environment. |
| Keywords: | mobile robot path planning ant colony optimization algorithm fuzzy control dynamic window liveness parameter optimization |
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