基于改进蚁群算法的多服务机器人路径规划  

Multi-service-robot path planning based on improved colony optimization algorithm

作　　者：张军高[1] 何永义[1] 方明伦[1] 冯肖维[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机电工程》2011年第4期448-452,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家高技术研究发展计划("863"计划)资助项目(2007AA041604);上海市科委资助项目(07DZ05805);上海大学研究生创新基金资助项目(A.16-0109-10-016)

摘　　要：为解决多服务机器人全局路径规划的问题,将基本蚁群算法应用到多服务机器人全局路径规划上,并对基本的蚁群算法作了改进。对基于算法的多服务机器人系统的构成进行了描述,接着对多服务机器人系统环境的表示方法及算法中对应问题的描述和定义进行了研究。对应用到多服务机器人系统的基本蚁群算法提出了几种改进的策略,并对改进的蚁群算法应用到多服务机器人系统进行路径规划的具体实现过程进行了研究,通过仿真和试验,具体的分析了该方法在多服务机器人系统实验平台的应用。研究结果表明,该方法能解决多服务机器人的路径规划问题,并具有良好的效果。For solving the problem of the multi-service-robot global path planning,the basic colony optimization algorithm was used,the improvement was made to the basic colony optimization algorithm.The composition of the multi-service-robot＇s system was described,the expression of the multi-service-robot systematic environment and the description and definition of the algorithm were studied.The several strategies were given to the basic colony optimization algorithm,and the process was studied that using the improved colony optimization algorithm to make the path planning.Through the simulation and experiment applied in the multi-service-robot＇s system,the result shows that this method can solve the path planning＇s problem well.

关 键 词：蚁群算法 多服务机器人 路径规划 

分 类 号：TH39[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]