复杂环境下多种群蚂蚁机器人路径规划新算法  

NEW ALGORITHM OF PATH PLANNING FOR MULTIPLE-COLONY ANT ROBOT IN COMPLEX ENVIRONMENT

作　　者：杨文潮[1] 朱庆保[2] 国海涛[1] 

机构地区：[1]鲁东大学现代教育技术部,山东烟台264025 [2]南京师范大学计算机科学学院,江苏南京210097

出　　处：《计算机应用与软件》2010年第12期243-246,共4页Computer Applications and Software

摘　　要：依据真实蚂蚁具有自动分流功能这一研究成果,提出了一种全新的机器人路径规划蚂蚁算法。该方法首先用栅格法对机器人运动环境进行建模,在此基础上,两组蚂蚁进行相向搜索,每组蚂蚁都含少量分流蚂蚁,分流蚂蚁选择信息素较少的路径行走,从而增强了搜索多样性。计算机仿真实验表明,即使在复杂的环境下,用该算法也可以较迅速地规划出一条全局优化的路径。Based on the research outcome of automatic diffluence function of the ant colonies in the nature,a brand new ant algorithm for robot path planning is proposed. Firstly the algorithm uses grid method to model the motion environment of the robot,based on that,two groups of ant search toward each other,in each group there are few diffluent ants,they select the path with less pheromone to go so that the searching diversity is increased. Computer simulated experiments demonstrate that the algorithm presented in this paper can plan a global optimised path rapidly even in cluttered environment.

关 键 词：机器人 路径规划 自动分流 蚂蚁算法 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]