复杂环境移动机器人路径规划的改进蚁群算法  

Improved ant colony algorithm of path planning for mobile robot under complex environment

作　　者：刘锴[1] 游晓明[1] 刘升[2] 

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620 [2]上海工程技术大学管理工程学院,上海201620

出　　处：《计算机工程与应用》2016年第13期60-63,130,共5页Computer Engineering and Applications

基　　金：国家自然科学基金(No.61075115);上海市教委科研创新重点项目(No.12ZZ185);上海市学科专业建设项目(No.XKCZ1212);研究生科研创新课题(No.14KY0210)

摘　　要：针对蚁群算法易陷入路径死锁的缺点,提出了一种复杂环境下移动机器人路径规划的改进蚁群算法。对机器人环境建立栅格模型,在传统转移规则中引入指向上一节点的数组,增强了算法的逃逸能力;在信息素更新中减去最差蚂蚁释放的信息量,有利于种群的进化。仿真分析了主要参数对算法性能的影响,实验结果表明,该算法在复杂地图中搜索到的路径优于传统算法。For the shortcomings of easy to fall into the path deadlocks, an improved ant colony algorithm is proposed toplan the optimal collision-free path for a mobile robot in a complex environment. Firstly, grid model of the robot environmentis established, and an array of element point to the previous is employed to enhance the escaping capability of algorithm.It utilizes the pheromone released by the worst ant to update the pheromone, which is conducive to the evolution ofthe colony. The main parameters’influence on the performance of the algorithm is analyzed. Simulation results show thatthe optimal collision-free path on the complex map obtained by this algorithm is superior to the traditional algorithm.

关 键 词：移动机器人 路径规划 蚁群算法 栅格法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]