摘要
机器人路径规划是机器人技术研究中的一项关键技术。针对蚁群算法在求解机器人路径规划中准确性不高以及求解时间长的问题,提出了一种基于改进蚁群算法的机器人路径规划方法,采用栅格法构建了相应的数学模型。为了提高蚁群算法的全局搜索能力,防止算法早熟收敛,在状态转移规则中引入了随机策略;同时引入了基于狼群分配的策略来更新启发式信息,这样可以进一步提高算法的收敛速度。实验结果表明,改进的蚁群算法具有更强的全局寻优能力,求解时间更短,它可以有效地求解机器人路径规划问题。
Robot path planning is a key technology in the research field of robot technology.Aiming at the poor accuracy and time-consuming of ant colony algorithm in solving the robot path planning problem,a new robot path planning method with improved ant colony algorithm is proposed in this paper,and corresponding mathematic model based on grid method is established.In order to improve the global search ability of ant colony algorithm and prevent premature convergence,a random strategy is introduced into the state transition rule.At the same time,an allocation strategy based on wolf pack algorithm is introduced to update heuristic information,which can further improve the convergence speed of the algorithm.The experimental results show the efficiency of proposed method,and the improved ant colony algorithm has stronger global optimization ability and shorter solution time,which can effectively solve the robot path planning problem.
作者
崔志华
孙佑强
任叶青
CUI Zhihua;SUN Youqiang;REN Yeqing(School of Computer Science and Technology,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《南昌工程学院学报》
CAS
2020年第1期15-19,24,共6页
Journal of Nanchang Institute of Technology
基金
国家自然科学基金资助项目(61806138)
山西自然科学基金资助项目(201801D121127)。
关键词
机器人技术
路径规划
改进蚁群算法
狼群分配策略
robot technology
path planning
improved ant colony algorithm
wolf pack allocation strategy
