基于改进蚁群算法的机器人路径规划  

Path Planning of Detecting Robot Based on Improved Ant Colony Algorithm

作　　者：牛治永[1] 李炎[2] 李晓岚[2] 

机构地区：[1]海军大连舰艇学院装备自动化系,辽宁大连116018 [2]辽宁出入境检验检疫局,辽宁大连116001

出　　处：《自动化技术与应用》2011年第7期1-4,共4页Techniques of Automation and Applications

摘　　要：本文主要结合蚁群算法对机器人路径规划进行了系统的研究。针对蚂蚁在搜索路径过程中落入障碍物陷阱而造成算法停滞的现象,提出了蚂蚁系统回退策略。为了检验改进型算法的性能,基于MATLAB软件设计了仿真程序。仿真结果表明:对基本蚁群算法的改进,提高了算法的有效性和鲁棒性,增强了蚁群算法在机器人路径规划中的适应能力。The paper mainly combined ant colony algorithm to carry on the research of system to the robot path programming.Aiming at the phenomenon of ant declines in the process of searching path into stumbling block trap and resulting in the calculate way be held up,the paper proposes into ant system back strategy.To examine the capability of improvement strategies,it designs a simulation based on MATLAB.The result shows that the improvement strategies to ACA raises the validity and robustness of the algorithm.And it also strengthens the orientation ability of ACA robot path planning.

关 键 词：机器人 路径规划 蚁群算法 回退策略 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]