基于初始路径封闭区域的机器人路径规划算法  

ROBOT PATH PLANNING ALGORITHM BASED ON CLOSED AREA OF INITIAL PATH

作　　者：蒋美云[1] Jiang Meiyun(Nanjing Institute of Industry Technology,Nanjing 210023,Jiangsu,China)

机构地区：[1]南京工业职业技术学院,江苏南京210023

出　　处：《计算机应用与软件》2020年第9期263-267,301,共6页Computer Applications and Software

基　　金：江苏智能传感器网络工程技术研究开发中心开放基金项目(YK15-04-02)。

摘　　要：为提高基于蚁群算法的机器人路径规划效率,提出一种基于初始路径封闭区域的机器人路径规划算法。规划过程中,将出发点与目的点间的连线作为吸引路径,精英蚂蚁沿吸引路径找到初始路径后,利用平滑后的初始路径构建初始路径封闭区域,再由机器人转弯代价决定后续蚂蚁是否在初始路径封闭区域内寻找最终路径。仿真结果表明,该算法具有显著的效率优势。In order to improve the efficiency of robot path planning based on ant colony algorithm,I propose a robot path planning algorithm based on the closed area of the initial path.In the process of path planning,the line between the starting point and the destination point was taken as the attraction path.After the elite ants find the initial path along the attractive path,they constructed the closed area of the initial path by using the smooth initial path.Then,turning cost of the robot determined whether the subsequent ants found the final path in the closed area of the initial path.The simulation results show that my algorithm has significant efficiency advantages.

关 键 词：路径规划 蚁群算法 吸引路径 封闭区域 平滑算法 

分 类 号：TP309[自动化与计算机技术—计算机系统结构]