基于改进蚁群算法的移动机器人路径规划

Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

为了提高移动机器人在复杂静态环境下快速、精确地实现避障路径规划的能力,在蚁群算法的基础上进行改进,采用最优-最差蚂蚁系统,并且引入最差路径信息素自适应参数以更好地寻找全局最优解。搜索过程中引入起点终点引导函数,优先搜索距离起点远而距终点近的节点。为提高算法的实用性,运用几何方法对路径进行修正处理。从而实现了机器人的快速、精确路径规划。通过计算机仿真研究表明:该算法具有较强的实用性,能明显改善路径规划性能,并且算法简单有效。

In order to increase mobile robot in complex static environment of rapid and precise to avoid obstacles path planning capacity, makes the improvement in the ant colony algorithm foundation, uses the most superior-worst ant system. And introduces the worst routing in- formation usually auto-adapted parameter by better to seek the overall situation optimal solution. In the search process introduces the beginning end point guidance function, first searches from the beginning far is apart from the end point near node. In order to enhance the algorithm the usability, carries on revision processing using the geometry method to the way. To achieve the robot fast,accurate path planning. Through computer simulation research indicates that the algorithm of a more practical, and that would significantly improve path planning performance and algorithm is simple and effective.