基于模糊蚁群算法的移动机器人轨迹规划研究

Mobile Robot Path Planning Based on Fuzzy Ant Colony Algorithm

针对移动机器人路径规划问题,提出一种基于模糊蚁群算法的路径规划方法,有效地将模糊控制方法与蚁群算法相结合,采用自校正模糊规划器,在蚁群算法的基础上使用自校正模糊规划器对参数进行在线优化,通过搭建Matlab/Simulink仿真平台完成对蚁群优化前后进行图形对比,最终得到轨迹规划最优解。移动机器人平台的实验结果表明,上述方法在移动机器人路径规划中具有一定的有效性和可行性。

For mobile robot path planning problem, this paper presents a path planning method based on fuzzy ant colony algorithm. The method of fuzzy control is effectively combined with ant colony algorithm and self-tuning fuzzy programming. On the basis of ant colony algorithm, the self-tuning fuzzy planning was used to implement on-line optimization of the parameters, and through the Matlab/Simulink platform, graphical comparison wa completed before and after the ant colony optimization. Finally, the optimal trajectory planning solution was obtained. Experimental results show that the method of mobile robot platform in mobile robot path planning is effective and feasible.