摘要
针对蚁群算法个体的薄弱性,提出了一种基于细菌趋化的集成算法。算法中蚂蚁个体借助细菌的趋向性不仅弥补了自身觅食的盲目性,也使蚂蚁个体具备了障碍检测预警能力,从而提高了整个蚁群的路径规划效率。另外,通过设置叛逆蚂蚁,保障了蚁群路径选择的多样性,提高了路径规划效果。实验表明,算法能在多障碍物环境下有效地解决机器人路径规划问题。
In order to solve the individual weakness of ant colony algorithm, an integrated algorithm is proposed based on bacterial chemotaxis. This improvement, combining tendency of bacteria, not only makes up the blindness for foraging itself, also makes the ant individuals possess the ability of obstacle detection warning, so as to improve the efficiency of path planning of the whole ant colony. In addition, by setting the rebellious ants, the diversity of the ant colony routing is guaranteed and the effect of the path planning is improved. The experimental results show that the algorithm can effectively solve the problem of robot path planning in many obstacles environment.
出处
《微处理机》
2015年第4期45-48,共4页
Microprocessors
基金
河南省教育厅科学技术重点研究项目(14A520005)
河南师范大学青年科学基金资助项目(2013QK19)
关键词
趋化行为
蚁群算法
路径规划
多障碍物
障碍检测
叛逆蚂蚁
Chemotactic behavior
Ant colony algorithm
Path planning
Many obstacles
Obstacle detection
Rebellious ants
