带精英策略和视觉探测蚁群算法的机器人路径规划

Ant algorithm with elitist strategy and vision detection for mobile robot path planning

算法中加入精英蚂蚁,拓展了蚂蚁搜索的范围,加强了蚂蚁通过狭长空间和复杂空间的能力。引入视觉探视功能,扩大了蚂蚁的视野,使蚂蚁在探索的过程中具备了"千里眼",减少了蚂蚁探索的步数。运用路径优化功能,使蚂蚁运动路径拉直、变短,使路径可用性增强。采用栅格划分环境、栅格之间的边表示信息素和距离信息减少了算法计算量。

Elitist ants were added to the algorithm, which not only developed the ant search scope, but also strengthened the ability of the ants to pass long space and the complex space. Vision detecting expanded ant＇s vision field and enhanced the ant to have ＂the far-sighted insight＂ in the exploration process. At the same time it reduced the ant exploration steps, which greatly improved the algorithm efficiency. The routing optimization function made the ant movement path to pull straight, shorten, which made the availability of route choosing enhanced. The grid divisiori was used to sign the environment, and the grid side expressed the element information and the distance information, thus reducing the computation quantity of the algorithm.