基于agent的蚁群觅食行为建模及在机器人路径规划问题中的应用

Modeling of ant colony foraging behavior based on agent and application of model in robotic path planning

为了对蚁群觅食原理进行研究和应用,引入agent的建模仿真方法对蚂蚁觅食行为进行建模和仿真,通过建立蚂蚁的增加感知信息的路径选择规则、信息素更新的奖惩规则等多个有效的行为规则强化了蚂蚁选路的智能性、快速性,与现有经典文献对比确定所建模型的有效性。为了验证蚂蚁觅食行为模型的适应性和应用价值,还将改进模型用于移动机器人局部路径规划。通过仿真可知,蚂蚁觅食行为模型在复杂多变的环境下能够快速确定最优路径。

In order to research and application of ant foraging theory, this paper introduced the modeling method based on agent to construct the ant colony foraging behavior model. Through constructing many effective ant behavior rules such as the path selection rules which was added the function of perceiving information, the reward and punishment rules which could regenerate the pheromone, strengthened the speed and the intelligence of ant routing. And comparing with the existing classic literature, it determined the effectiveness of the model. In order to verify the adaptability of ants foraging behavior model, the model was used to the local path planning of mobile robot. The simulation results show the ants foraging behavior model can quickly determine the optimal path in the complex environment.