摘要
提出了一种复杂静态环境下的移动机器人避碰路径规划的改进蚁群算法。基于栅格法的工作空间模型,模拟蚂蚁觅食行为,并针对移动机器人的路径规划的需要,将一些特殊功能赋予常规的蚁群算法。为了避免移动机器人的路径死锁,在路径搜索过程中,当蚂蚁探索到一个死角时,建立了相应的死角表,同时用惩罚函数来更新轨迹强度。仿真研究表明:该算法能明显改善路径规划性能,并且算法简单有效。
An improved ant colony algorithm is proposed to plan an optimal collision-free path for mobile robot in complicated static environment. Based on the workspace model with grid method, the foraging behavior of ant colony is simulated and the special functions are added into the regular ant colony algorithm for the path planning of mobile robot. When an ant explores a dead-corner in the path searching, a dead-corner table is established,and simultaneously a penalty function is used for the trail intensity updating in order to avoid the path deadlock of mobile robot. The simulation results show that the performance of path planning can be obviously improved by the proposed ant colony algorithm, and the algorithm is very simple and efficient.
出处
《华东理工大学学报（自然科学版）》
CAS
CSCD
北大核心
2006年第8期997-1001,共5页
Journal of East China University of Science and Technology
基金
浙江省自然科学基金资助项目(Y104560)
浙江省留学回国基金资助项目
关键词
移动机器人
路径规划
蚁群算法
死锁
mobile robot
path planning
ant colony algorithm
deadlock
