蚁群算法及其在移动机器人路径规划中的应用  

Ant Colony Algorithm and the Application on Path Planning For Mobile Robot

作　　者：范路桥[1] 姚锡凡[1] 卞青青[1] 蒋梁中[1] 

机构地区：[1]华南理工大学排爆机器人研究室,广东科学技术职业学院510641

出　　处：《微计算机信息》2008年第23期257-259,261,共4页Control & Automation

基　　金：广东省科技计划项目(2004A10403006)

摘　　要：蚁群算法是优化领域中新出现并逐渐引起重视的一种仿生进化算法.首先介绍了蚁群算法基本原理和特点;然后回顾近年来国内外学者针对移动机器人路径规划的特点,对蚁群算法的进行改进,将其引入移动机器人中进行障碍规避和寻找最优路径,所提出的各种静态路径规划和动态路径规划方法的基本思想和特点.最后分析了蚁群算法在移动机器人路径规划应用中存在的问题,以及该学科未来研究方向.Ant colony algorithm is a novel category of bionic evolutional algorithm for optimization problems. Firstly, the basic principle and the characteristic of ant colony algorithm are introduced. Then, aimed at the feature of path planning for autonomous mobile robot, some improved ant colony algorithms have been presented to find a best path without collision for autonomous mobile robot, and the methods for static path planning and dynamic path plarming are reviewed, analyzed. Finally, some problems of presented ant colony algorithm on path planning for autonomous mobile robot are reviewed, and some remarks on the further research and directions are presented.

关 键 词：蚁群算法 路径规划 移动机器人 智能计算 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]