应用于机器人路径规划中的蚁群算法的改进策略研究

Research on Improved Ant Colony Algorithm on Path Planning for Mobile Robot

针对蚁群算法在机器人路径规划中应用时存在的问题如搜索时间长、易陷于停滞、早熟等缺陷,参考路径规划技术研究的最新成果,对移动机器人路径规划问题的现有技术进行讨论总结,从环境建模、针对U型陷阱的回退机制、蚁群算法参数的动态调整、改变启发因子、混合蚁群算法、双蚁群算法几个方面介绍该问题的研究进展,对该领域的技术发展趋势作探讨。

Aiming at the disadvantages of the ant colony algorithm in robot path planning, which needs much time and easy to fall in premature stagnation, discusses and summarizes the existing path planning methods and studies the path planning techniques of the mobile robot based on the latest achievements, introduces the following aspects such as environment modeling, the back- return mechanism when fall in U trap, the dynamic adjustment of ant colony algorithm parame- ters, change the heuristic factor, hybrid ant colony algorithm, double ant colony algorithm and so on. Discusses and summarizes the existing techniques of mobile robot path planning problem and the development trends.