摘要
文章对传统蚁群算法收敛较慢的问题进行了改进,参考人工势场法的思想,构建并加入了权重可调的引力概率函数作为启发因子,使新的算法在较快的收敛速度下仍能得到全局较优解;在新算法的基础上构建了移动机器人动态路径规划模型,通过计算机仿真和智能试验车的实际行走表明,即使在障碍物非常复杂的场地环境,用该算法也能迅速规划出较优的全局路径。
The traditional ant colony algorithm is improved by introducing a new heuristic parameter the weight coefficient of which can be adjusted, so that quick convergence can be achieved with an acceptable result. A model is built for dynamic path planning of the mobile robot based on the new ant colony algorithm. Experiment vehicle＇s running in the experiment field and computer simulation results demonstrate that the presented algorithm can produce a comparatively optimal path rapidly even in a complex environment.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2006年第10期1208-1211,共4页
Journal of Hefei University of Technology：Natural Science
关键词
改进蚁群算法
移动机器人
动态路径规划
引力概率函数
improved ant colony algorithm
mobile robot
dynamic path planning
probability of atraction function
