室内服务机器人路径导航系统设计及算法

Algorithm and Design of Path Navigation System of Indoor Service Mobile Robot

随着各行业智能化的快速发展,室内服务机器人逐渐地走进了人们的日常生活中。针对日益复杂的室内环境以及对机器人路径规划技术要求的不断提高,采用激光雷达、底盘驱动、人机交互等功能模块相结合,设计了一种室内服务机器人路径导航系统。同时对传统蚁群算法进行改进,提出了自适应信息素浓度和动态信息素挥发因子,使改进后的蚁群算法具有较高的全局搜索能力,避免了传统蚁群算法前期易陷入局部最优的问题,最后将改进后的蚁群算法应用到移动机器人路径规划上。为了验证改进蚁群算法的有效性,用MATLAB软件进行仿真分析,仿真结果证明了改进蚁群算法在移动机器人路径规划时具有较强的全局寻优能力,同时提高了收敛速度。

With the rapid development of intelligent industry,demand from people s daily life for indoor mobile service robot has been gradually increasing.Due to complex indoor environment,technical requirements for robot path planning need to be continuously improved.Therefore,a path navigation system of indoor service mobile robot was designed.The system was composed of lidar,chassis drive,human-computer interaction,and other functional modules.Meanwhile,the traditional ant colony algorithm was improved,and the adaptive pheromone concentration and dynamic pheromone volatilization factor were proposed.Results show that the improved algorithm has a high global search ability,and solves the problem in the traditional algorithm that it is easy to fall into the local optimum in early stage.Finally,the new path planning system was simulated and verified using MATLAB software,showing that the improved algorithm has a strong global optimization ability in the path planning,and the convergence speed was improved.