摘要
通过对蚁群算法原理的分析及机器人路径规划的研究,在MMAS的基础上,引入节点活跃度的蚁群算法,对基于栅格法的机器人路径搜索收敛性进行了数值模拟研究,结果表明,在改进的蚁群算法控制下,收敛速度较快且全局稳定性较高。完成了机器人分级控制系统的硬件设计与软件设计,通过实验测试,验证了控制系统在复杂环境下的高效寻迹能力。
Through the analysis of the ant colony algorithm principle and the study of robot path planning, the active nodes are introduced in ant colony algorithm based on the MMAS. The robot ’s trajectory search with grid method of convergence is simulated, and the results show that the convergence speed is improved and stability is higher by using ant colony algorithm. The robot control system hardware and software design are completed, through the experiment test, high efficient tracing ability of the control system is verified in a complex environment.
出处
《煤矿机械》
2015年第9期244-247,共4页
Coal Mine Machinery
关键词
蚁群算法
路径规划
轨迹跟踪
控制系统
ant colony algorithm
route planning
trajectory tracking
control system
