摘要
提出了一种用于解决机器人路径规划的基于图的蚂蚁算法。用栅格法对机器人的工作空间进行建模,并用一个状态矩阵表示其状态,由此构造出一个连通图,由一组蚂蚁在图上模拟蚂蚁的觅食行为,从而得到避碰的优化路径。最后,借鉴分枝随机过程和生灭过程的理论知识,用概率的方法从理论上对该算法的收敛性进行了分析,证明了算法的有效性和收敛性。
The workplace of the mobile robot is modeled by the grid method,and its state is expressed by a state-matrix,from which a connected graph is obtained： a group of ants traverse on the graph and simulate their behavior of forage-finding,and the optimal path is obtained.Finally,using the theoretical knowledge in the branching random process and birth-death process,the convergence of the proposed algorithm is theoretically analyzed by the probability,which testifies the effectiveness and convergence of the algorithm.
出处
《苏州科技学院学报（工程技术版）》
CAS
2010年第3期72-77,共6页
Journal of Suzhou University of Science and Technology （Engineering and Technology）
关键词
未知环境
机器人路径规划
收敛性
分枝过程
生灭过程
unknown environment
path planning of mobile robot
convergence
branching process
birth-death process
