基于改进蚁群算法的移动机器人全局路径规划  

Global path planning based on improved ant colony algorithm for mobile robot

作　　者：占伟 屈军锁 芦鑫 侯磊超 ZHAN Wei;QU Junsuo;LU Xin;HOU Leichao(School of Communications and Information Engineering,Xi’an University of Posts&Telecommunications,Xi’an 710121,China)

机构地区：[1]西安邮电大学通信与信息工程学院,陕西西安710121

出　　处：《现代电子技术》2018年第24期170-173,共4页Modern Electronics Technique

基　　金：国家自然科学基金(51405387);陕西省自然科学基金资助项目(2018JM6120);陕西省国际科技合作计划资助项目(2018KW-026);西安市科技计划资助项目(201805040YD18CG24(6));咸阳市科技局科技计划资助项目(2017k01-25-12)~~

摘　　要：蚁群算法作为智能化仿生优化算法,其自组织性和智能性对研究全局路径规划问题具有指导性意义,基于此提出一种改进蚁群算法。首先采用栅格法建立环境模型并对传统的蚁群算法进行改进,对算法的启发因子和信息素更新策略进行研究与改进。仿真结果表明,改进的蚁群算法相对传统的蚁群算法具有收敛速度快和优化性能良好的特点。The ant colony algorithm is an intelligent bionic optimization algorithm,whose self-organization and intelligence is of guiding significance to the study of global path planning.Based on this,an improved ant colony algorithm is proposed.The environment model is established by using the grid method.The traditional ant colony algorithm is improved by studying and im-proving the inspiring factor and pheromone updating strategy of the algorithm.The simulation results show that the improved ant colony algorithm has the characteristics of rapid convergence speed and good optimization performance in comparison with the traditional ant colony algorithm.

关 键 词：仿生优化 蚁群算法 栅格法 移动机器人 路径规划 启发因子 信息素更新策略 

分 类 号：TN929.5-34[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程]