摘要
研究了一种全新的蚂蚁粒子群融合的机器人路径规划算法。该方法首先用链接图建立机器人运动空间模型,在此基础上利用蚂蚁算法进行全局搜索得到全局导航路径,然后用粒子群算法局部调节全局导航路径上的路径点,得到更优路径。计算机仿真实验表明,即使在复杂的环境下,利用该算法也可以规划出一条全局优化路径,且能安全避障。
An algorithm based on Ant Algorithm（AA） and Particle Swarm Optimization（PSO） algorithm for path planning of the robot is proposed.First the MAKLINK graph is built to describe the working space of the mobile robot,then the ant algorithm is used to obtain the global navigation path,and the particle swarm optimization algorithm is adopted to get the better path, Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment. The successful obstacle avoidance is achieved,and the model is robust and performs reliably.
出处
《计算机工程与应用》
CSCD
北大核心
2007年第31期39-41,共3页
Computer Engineering and Applications
基金
国家自然科学基金(the National Natural Science Foundation of China under Grant No.60673102)
江苏省自然科学基金(the Natural Science Foundation of Jiangsu Province of China under Grant No.BK2006218)
关键词
机器人
路径规划
蚂蚁算法
粒子群算法
robot
path planning
ant algorithm
particle swarm algorithm
