基于改进蚁群算法的全向移动机器人全遍历路径规划

Full Traversal Path Planning of Omnidirectional Mobile Robot Based on Improved Ant Colony Algorithm

受全遍历环境影响,现有方法规划得出的路径长度过长,为提高路径规划性能,获取最优路径,提出基于改进蚁群算法的全向移动机器人全遍历路径规划方法.在拓扑建模示意图的基础上,依据移动机器人在原坐标系下的位置信息,利用角度转换建立新的环境模型.考虑蚁群算法存在的问题,将递减系数引入到启发函数中,更新局部信息素,通过设定迭代阈值,调节信息素的挥发系数.最后通过路径规划流程设计,实现对全向移动机器人全遍历路径的规划.实验结果表明,所设计方法不仅可以缩短全遍历路径长度,还可以缩短路径规划时间,获取最优路径,从而提高了全向移动机器人的全遍历路径规划性能.

Affected by the full traversal environment,the paths planned by existing methods are too long.For this reason,this study proposes a planning method for the full traversal path of omnidirectional mobile robots based on an improved ant colony algorithm,hoping to improve the path planning and obtain the optimal path.On the basis of the topological modeling diagram,a new environment model is established by angle conversion according to the position information of a mobile robot in the original coordinate system.Considering the problems in the ant colony algorithm,the decreasing coefficient is introduced into the heuristic function to update the local pheromone,and an iterative threshold is set to adjust the volatility coefficient of pheromone.Finally,the path planning process is designed to plan the full traversal path.The results show that the proposed method can shorten not only the full traversal path but also the planning time to obtain the optimal path,thereby improving the planning for the full traversal path of omnidirectional mobile robots.