基于蚁群算法的机器人路径规划

Path Planning for Robots Based on Ant Colony Algorithm

针对移动机器人规避障碍和寻找最优路径问题,提出了在复杂环境下移动机器人的一种路径规划方法。采用了栅格法建立了机器人工作平面的坐标系,整个系统由全局路径规划和局部避碰规划两部分组成。在全局路径规划中,用改进蚁群算法规划出初步全局优化路径;局部避碰规划是在跟踪全局优化路径的过程中,通过基于滚动窗口的环境探测和碰撞预测,对动态障碍物实施有效的局部避碰策略,从而使机器人能够安全顺利的到达目标点。仿真实验的结果表明了所述方法能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.This paper presents a new approach to robot path planning under complex environment.Grid method is used to model the workspace.The whole system includes two parts：the global path planning and the local planning for obstacle avoidance.In the global path planning,an optimal route to the goal is found by ant colony algorithms;in the local planning for obstacle avoidance,while following the global path,several collision,free strategies for different situations are used after the environment detection and collision prediction based on rolling windows in order that the robot reaches the goal safely：The results of the simulation experiment indicate that the mobile robot can find the goal within the shortest path without the collision.