基于栅格法的机器人路径规划蚁群算法

An Ant Colony Algorithm Based on Grid Method for Mobile Robot Path Planning

描述了一种静态环境下的机器人路径规划仿生算法.该算法用栅格法对场景进行建模,模拟蚂蚁的觅食行为,由多只蚂蚁协作完成最优路径的搜索.搜索过程采用了概率搜索策略、最近邻居策略和目标导引函数,使得搜索过程极为迅速高效.仿真实验结果表明,即使在障碍物非常复杂的地理环境,用本算法也能迅速规划出最优路径,且能进行实时规划,效果十分令人满意.

A bionics algorithm for robot path planning in static environment is proposed, in which the environmental models are established with grid method, the foraging behavior of ant colonies is simulated and optimal path search is finished by many ants cooperatively. Furthermore, the strategies of probabilistic search, nearest neighbor search and a goal guiding function are applied to enable the searching to be rapid and efficient. Results of simulation experiments demonstrate that the best path can be found in short time, real-time planning can be achieved, and the effect is very satisfying even if the geographic conditions with obstacles are exceedingly complicated.