基于全向移动机器人路径规划的蚁群算法研究

Research on Ant Colony Algorithm Based on a Path Planning for Omnidirectional Mobile Robot

基于一种全向移动的自动导航机器人,分析此机器人的轨迹规划问题.通过栅格法构建所需的环境模型,选用蚁群算法并扩展改进算法背景,将其应用于该机器人的路径规划中.并且对算法中的转移概率,启发式函数进行改进,通过在不同复杂度的多张地图上进行仿真实验,结果证明了该算法的可行性,有效性以及对不同规模地图的适应性.同时基于蚁群算法中关键参数的选取对于路径规划的影响做了相应的对比分析,寻找到最合适的蚁群算法参数.

Based on a kind of omnidirectional automatic navigation robot,the trajectory planning of this robot was analyzed.Through grid method,the required environment model was built.The ant colony algorithm and its optimization algorithm were applied to the path planning of the robot.Through the improvement of the transfer probability and the heuristic function in the algorithm,the feasibility validity and adaptability to different scale maps of the algorithm was proved by the simulation results on multiple maps with different complexities.At the same time,based on the key parameters of ant colony algorithm,the effects of these parameters on path planning were compared and analyzed,and the most suitable ant colony algorithm parameters were found.