一种家庭安保机器人运动路径规划的蚁群算法  

An ant colony optimization algorithm for home security robot path planning

作　　者：龙珑[1] 邓伟[2] 胡秦斌[1] 黄智海[1] 

机构地区：[1]广西师范学院计算机与信息学院,广西南宁530023 [2]广西肿瘤防治研究所,广西南宁530021

出　　处：《微型机与应用》2012年第18期11-13,16,共4页Microcomputer & Its Applications

基　　金：国家创新基金项目(10C26224504901);广西自然科学基金项目(2011GXNSFB0180825)

摘　　要：由于家庭居住环境复杂,家庭安保机器人导航问题难于解决。使用传统蚁群算法,家庭安保机器人容易陷入搜索家庭环境局部极值的困境,无法找出在复杂环境下家庭最优的运动路径。因此,家庭安保机器人设计方案引入混沌理论改良局部个体的质量,利用混沌扰动,能够避免家庭机器人陷入搜索家庭环境局部极值的困境,由最初的混沌行为过渡到群体智能行为,使家庭安保机器人找到最优的运动路径。经仿真实验表明,在复杂的家庭环境下,家庭安保机器人也可以安全避障。Because domestic living environment is very complex, and family security robot navigation problems are very difficult to solve. It is difficult problem to research family security robot navigates in a complicated environment. If security robot uses the traditional colony ant algorithm, family security robot would search family environment in local extremes trouble, and could not find out the best path under the complex environment family. Therefore, this paper family security robot algorithm introduces chaos theo- ry to improve the quality of local individual, thus to avoid family robot to fall into searching family environment in local extremes trouble, and the initial chaos behavior transition swarms intelligence behavior, eventually family security robot find the optimal path of the movement. The simulation experiment shows that the robot can succeed avoid obstacle in complex family environment

关 键 词：家庭安保机器人 蚂蚁算法 混沌 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]