几何规则下的异类蚁群优化算法设计

Design of Heterogeneous Ant Colony Optimization Algorithm Under Geometric Rules

利用解决移动机器人的全局路径规划问题的构想,从而改进几何规则下异类蚁群算法的优化和设计。移动机器人模型的搭建可以依靠机器人和算法的结合相实现。蚂蚁的搜索速度也能够依靠设置初始信息素得以实现,也要将自己适应信息挥发机制给设置出来,从而对地图初始信息素的干扰问题做出解决;以设置自适应的路径长度为基础,将规划路径的优劣性给设置出来,而优劣程度对信息素散播策略起着决定性的作用,借用几何原理来对规划路劲进行优化处理,加快最优解的收敛速度。该算法的应用性和有效性将会随着仿真实验的结果而验证出来,面对环境地图的随机设定,最优路径可以根据这种算法来迅速的将其进行规划。

Based on the idea of solving the global path planning problem of mobile robots, the optimization and design of heterogeneous ant colony algorithmunder geometric rules are improved. The construction of the mobile robot model can be realized by the combination of the robot and the algorithm. The search speed of ants can also be realized by setting the initial pheromone, and also adapting the information to the information volatilization mechanism to solve the interference problem of the map initial pheromone;based on setting the adaptive path length, The pros and cons of the planning path are set, and the degree of pros and cons plays a decisive role in the pheromone dissemination strategy. The geometric principle is used to optimize the planning road strength and accelerate the convergence speed of the optimal solution. The applicability and effectiveness of the algorithm will be verified with the results of the simulation experiment. In the face of the random setting of the environment map, the optimal path can be quickly planned according to this algorithm.