摘要
针对月面机器人在复杂地形下的路径规划问题,提出了一种改进的蚁群算法。算法构建了栅格化地形图,基于人工势场法改进了蚁群算法的启发函数,加快了算法收敛速度;引入空间信息素划分方法,提高了蚁群在最短路径附近区域的搜索能力;实验证明,改进后的蚁群算法,路径规划成功率显著提高,收敛速度加快。在算法规划出月面机器人的最短路径后,采用虚拟仿真技术,基于unity3D构建虚拟月面环境和月球车,直观地展示了月面机器人在月面环境下的路径规划效果。
An improved ant colony algorithm is proposed to solve the path planning problem of lunar robot in complex terrain.The algorithm constructs a rasterizing topographic map,and based on the artificial potential field,the heuristic function of ant colony algorithm is improved to accelerate the convergence speed of the algorithm.Also,the spatial pheromone partition method is introduced to improve the search ability of ant colony in the area near the shortest path.Experimental results show that the improved ant colony algorithm can significantly improve the success rate of path planning and accelerate the convergence speed.After the algorithm plans the shortest path of the lunar robot,the virtual lunar environment and lunar rover are constructed based on unity3d by using the virtual simulation technology.The path planning effect of the lunar robot in the lunar environment is intuitively displayed.
作者
刘畅
王逸璇
王婧馨
张富照
张雪芹
曹涛
LIU Chang;WANG Yixuan;WANG Jingxin;ZHANG Fuzhao;ZHANG Xueqin;CAO Tao(School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237;School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237;Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109;Shanghai Aerospace Control Technology Institute, Shanghai 201109)
出处
《飞控与探测》
2021年第3期23-33,共11页
Flight Control & Detection
基金
上海航天科技创新基金(SAST2018-086)。
