基于改进蚁群算法的移动机器人路径规划

Mobile Robot Path Planning Based on Improved Ant Colony Algorithm

针对传统蚁群算法存在效率低、收敛速度慢、易陷入局部最优解等问题,笔者提出一种改进的蚁群算法。该算法在启发函数中引入距离启发因子,使蚂蚁在路径搜索过程中具有导向性,使算法不易陷入局部最优解。研究结果表明,所提出的改进蚁群算法能够有效、快速地找到最优路径,而且路径质量优于传统蚁群算法规划出的路径。

Aiming at the problems of traditional ant colony algorithm such as low efficiency,slow convergence speed,and easy to fall into local optimal solution,the author proposes an improved ant colony algorithm.The algorithm introduces a distance heuristic factor into the heuristic function,which makes the ants have the orientation in the path search process,and makes the algorithm not easy to fall into the local optimal solution.The research results show that the proposed improved ant colony algorithm can find the optimal path efficiently and quickly,and the quality of the path is better than the path planned by the traditional ant colony algorithm.