改进蚁群优化算法求解移动机器人路径规划问题  

Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot

作　　者：赵娟平[1,2] 高宪文[1] 符秀辉[2,3] 

机构地区：[1]东北大学信息科学与技术学院,辽宁沈阳110819 [2]沈阳化工大学信息工程学院,辽宁沈阳110142 [3]中科院沈阳自动化所,辽宁沈阳110015

出　　处：《南京理工大学学报》2011年第5期637-641,共5页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(60334010)

摘　　要：针对蚂蚁双向并行搜索策略会丢失蚂蚁间的部分可行路径甚至最优路径的问题,该文采用栅格法建立移动机器人环境模型,提出了根据信息素判断蚂蚁是否相遇的新的蚂蚁相遇判别法。为避免算法陷入局部最优,提出了综合考虑多种因素的新的路径选择策略和全局信息素更新策略。二维环境下的仿真研究表明,只要路径客观存在,算法就能快速地规划出相应的安全路径。In view of that the ant colony optimization algorithm with a two-way parallel searching tactic has the defects of losing some feasible paths and even optimal paths,the environment models of a mobile robot are established by grids method and a new ants meeting judgment is used to solve the path planning problem of a mobile robot.The new judgment can judge if ants meet according to the kind of pheromones.A new path selecting method and a new global pheromone updating technique are proposed to avoid running into local optima.Simulation results of two-dimension environment indicate that improved algorithm can plan a safe optimal path quickly for the existing paths.

关 键 词：蚁群优化 路径规划 移动机器人 栅格法 双向并行搜索 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]