增强蚁群算法在移动机器人路径规划的应用研究  

Research on the Application of Enhanced Ant Colony Algorithm in Mobile Robot Path Planning

作　　者：王建玲 王换换[1] WANG Jianling;WANG Huanhuan(School of Information Engineering,Zhoukou Polytechnic,Zhoukou Henan 466000,China)

机构地区：[1]周口职业技术学院信息工程学院,河南周口466000

出　　处：《机床与液压》2024年第10期70-77,共8页Machine Tool & Hydraulics

基　　金：2021年河南省产学合作协同育人项目(21B280012)。

摘　　要：针对蚁群算法在移动机器人路径规划中存在的历史路径不能被充分利用的问题,提出一种具有通信机制的增强型蚁群算法。根据自然界中蚂蚁触手的接触特性,对历史路径进行整合,以获得更优的复合路径。为了进一步改进算法,提出一种放大的轮盘赌方法来加速收敛。设计自适应的Sigmoid衰减函数来优化不同阶段的启发式信息。针对死锁问题的各种类型,制定了具体的优化策略并减少了死锁蚂蚁的数量。最后进行了参数确定和对比实验,在简单环境和复杂环境下,所提算法的整体性能明显提高,实验结果证明了所提方法的有效性。An enhanced ant colony algorithm with communication mechanism was proposed to address the problem of insufficient utilization of historical paths in path planning of mobile robots using ant colony algorithm.The historical paths were integrated based on the contact characteristics of ant tentacles in nature to obtain better composite paths.In order to further improve the algorithm,an ampli-fied roulette wheel method was proposed to accelerate convergence.An adaptive Sigmoid decay function was designed to optimize heuris-tic information at different stages.Specific optimization strategies were developed for various types of deadlock problems to reduce the number of deadlock ants.Finally,parameter determination and comparative experiments were conducted,the overall performance of the proposed algorithm had improved significantly in both simple and complex environments,and the experimental results proved the effec-tiveness of the proposed method.

关 键 词：移动机器人 蚁群算法 路径规划 死锁问题 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]