IMMAS算法在复杂环境下路径规划中的应用  

IMMAS for Robot Path Planning in Complex Environment

作　　者：姚尧[1] 卢淑娟[1] 徐德民[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《计算机仿真》2007年第12期148-151,共4页Computer Simulation

摘　　要：移动机器人路径规划是机器人学的一个重要研究领域。文章将改进的MMAS蚁群算法引入路径规划,在栅格法建模的基础上,改进初始蚁群设置,使用可变的终点定义,终合考虑可选点与终点的距离、可选点的被访问次数以及各可选路径上的信息素强度来设计启发式因子,使用奖励机制更新信息素,动态确定最大最小信息素范围,建立了一种新型优化算法。仿真结果表明,利用改进的MMAS算法,可充分发挥蚁群算法的优越性,并减小了陷入停滞状态的可能性,快速搜索到最优解。Path planning of mobile robot is a very important area of robot research.Based on the method of grids-modeling,the paper introduces an improved MMAS for robot path planning.The new optimal algorithm improves the algorithm as follows： improving initial setting;using the variable ＂target＂;designing the heuristic parameter considering the distance from the target to the optional position,the times that the optional position has been arrived and the pheromone of the optional path;updating the Pheromone with the reward;setting the max-min pheromone dynamically.The simulation shows that the best path can be quickly received by using the MMAS algorithm,and the possibility of stagnancy can be reduced.

关 键 词：最大最小蚁群算法 路径规划 栅格法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]