双向ACO算法应用于静态机器人全局路径规划研究  

Ant Colony Algorithm for Mobile Robot Path Planning

作　　者：徐义晗[1] 程乐[1] 宋艳红[1] 郭艾华[1] 

机构地区：[1]淮安信息职业技术学院计算机科学与工程系,江苏淮安223003

出　　处：《微电子学与计算机》2012年第1期97-101,共5页Microelectronics & Computer

基　　金：国家自然科学基金项目(60673102);江苏省自然科学基金项目(BK2006218)

摘　　要：提出双向蚁群算法并应用于静态环境下的机器人全局路径规划问题.对栅格法环境建模进行改进,将传统的栅格法改进为膨胀栅格法;使用双向蚁群算法在出发点和目标点设置带有不同标记的两族蚂蚁相向爬行完成搜索,启发信息主要通过目标点、出发点和蚂蚁的当前位置二维坐标值计算得出;信息素存储采用方向信息素矩阵.仿真实验证明:即使在障碍物非常复杂的地理环境,用本算法也能迅速规划出最优路径.In this paper,we puposed a Two Directions ant colony algorithm and apply it to robot path planning in static environment.We changed grid method into expdnded grid method for the environmental models.The optimal path search is finished by two trible＇s ants opposite crowing from starting point and ending point.Heuristic information is calculated by the coordinate of Starting point,ending point and the posion of ant.Pheromone is reserved by direction pheromone matrix.Results of simulation experiments demonstrate that even in obstacles very complicated geographical environment the best path can be found in short time.

关 键 词：蚁群算法 路径规划 信息素矩阵 膨胀栅格法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]