基于改进蚁群算法的机器人路径规划  

Robot Path Planning Based on Improved Ant Colony Algorithm

作　　者：邵桂荣[1] SHAO Guirong(Department of Physics and Electronic Engineering,Yuncheng University,Yuncheng Shanxi,044000)

机构地区：[1]运城学院物理与电子工程系,山西运城044000

出　　处：《山西大同大学学报（自然科学版）》2024年第4期5-8,共4页Journal of Shanxi Datong University(Natural Science Edition)

基　　金：运城市科技计划项目[YCKJ-2021036];运城学院学科研究项目[XK-2020041]。

摘　　要：移动机器人广泛应用在工业、医疗、物流等领域,而路径规划是移动机器人研究的一项关键技术。在传统蚁群算法的基础上,设计了基于改进蚁群算法和动态窗口算法的混合算法,改进蚁群算法用于全局路径规划,动态窗口算法用于局部路径规划,采用混合算法对单机器人和多机器人路径规划进行实验验证。结果表明,单机器人和多机器人在路径规划时,可有效避开障碍物,路径平滑无拐点,证明了混合算法的可行性。Mobile robots are widely used in industrial,medical,logistics and other fields,and path planning is a key technology in mobile robot research.Based on the traditional Ant Colony Algorithm,this paper designs a hybrid algorithm based on improved Ant Colony Algorithm and Dynamic Window Algorithm.The improved Ant Colony Algorithm is used for global path planning,and the Dynamic Window Algorithm is used for local path planning.Finally,the hybrid algorithm is used to verify the path planning of single robot and multi-robot.The experimental results show that single robot and multi-robot can effectively avoid obstacles in path planning,and the path is smooth without inflection point,which proves the feasibility of the hybrid algorithm.

关 键 词：蚁群算法 路径规划 动态窗口算法 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]