摘要
针对移动机器人规避障碍和寻找最优路径问题,提出一种基于改进的蚁群算法的解决策略,并编制相应程序进行验证。仿真过程分为两个基本阶段:适应阶段和协同工作阶段。在前阶段,各局部解根据规则不断调整自身结构;后阶段各局部解通过信息交流,产生全局最优解。与传统的算法比较,它可以避免陷入过早收敛,能实现移动机器人在较短时间内找到最佳路径并规避障碍。
The problems of obstacle avoidance and path planning of mobile robot are discussed. A possible solution using the improved ant colony algorithm is presented to find a best path without collision from the starting-point to the ending-point, According to the simulation, the test process includes two steps： the meet stage and the cooperation, All local solutions adjust themselves; and then the global solutions is found. The result shows that the mobile robot can find the goal within the shortest path without the collision and the stagnation.
出处
《控制工程》
CSCD
2005年第5期473-475,485,共4页
Control Engineering of China
关键词
蚁群算法
移动机器人
目标寻我
障碍规避
路径规划
ant colony algorithm
mobile robot
goal seeking
obstacle avoidance
path planning
