摘要
利用改进的蚁群算法对机器人水下作业进行路径规划,找出能耗最低路径,提高机器人续航能力;将蚁群算法中信息素的更新改进为用能量表示,使转移概率受能量、距离双重影响。通过matlab仿真建立障碍地图和路径规划平台,利用改进蚁群算法找到能耗最低路径,和传统以最短路径为最优解的蚁群算法相比,仿真实验求得的能耗最低路径,虽距离长但能耗低,更符合路径规划的最终目的。
We adopt the improved ant colony algorithm in underwater robot path planning,then we find the minimum energy consumption path to improve the robot battery life.In this paper,the update of the pheromone in ant colony algorithm is expressed by energy,and the transfer rate is affected by the energy and distance.We build the platform of obstacle map and path planning by matlab simulation,and find the lowest energy consumption path by the improved ant colony algorithm.Compared with traditional ant colony algorithm,the improved ant colony algorithm finds the lowest energy consumption path with longer distance,and it is more suitable for the final purpose of path planning.
作者
石佩玉
吴鹏飞
SHI Pei-yu WU Peng-fei(Hebei University of Water Resources and Electric Engineering, 061001, Cangzhou, Hehei, China)
出处
《河北工程技术高等专科学校学报》
2016年第4期30-34,共5页
Journal of Hebei Engineering and Technical College Quarterly
关键词
改进蚁群算法
能耗最低
MATLAB
路径规划
improved ant colony algorithm
the lowest energy consumption
matlab
path planning
