基于改进蚁群算法的分布式多机器人协同路径规划

Distributed multi-robot collaborative path planning based on improved ant colony algorithm

针对多机器人协同路径规划问题,提出了一种基于改进蚁群算法的分布式多机器人协同的路径规划方法,将多机器人路径规划问题分为两个阶段解决.在路径规划阶段改进传统的蚁群算法,通过几何法对蚁群算法的初始信息素进行差异化设计,改变初始信息素分布方式,加快蚁群算法收敛速度;设计了一种以起始点和目标点为导向的启发式函数,解决了蚁群在寻优过程中迂回锁死的情况;改进信息素更新方式加快后期信息素积累过程,提高整个算法路径规划的收敛速度.在协同避碰阶段,设计协同避碰规则解决各机器人之间的相互碰撞,以找到较优或者最优的路径组合.仿真结果表明:所改进的蚁群算法在解决单机器人路径规划问题时的优越性和所提多机器人路径规划方法的可行性、有效性.

Aiming at the multi-robot collaborative path planning problem,a distributed multi-robot collaborative path planning method based on the improved ant colony algorithm is proposed,which divides the multi-robot path planning problem into two stages.In the path planning stage,the traditional ant colony algorithm is improved,and the initial pheromone of the ant colony algorithm is designed differently by geometric method to change the initial pheromone distribution to speed up the convergence speed of the ant colony algorithm;a heuristic function oriented to the starting point and target point is designed to solve the situation of roundabout locking of the ant colony in the process of seeking advantages;the pheromone update method was improved to speed up the later pheromone accumulation process and improve the convergence speed of the whole algorithm path planning.In the cooperative collision avoidance stage,the cooperative collision avoidance rules are designed to solve the mutual collision among robots in order to find the better or optimal path combination.The simulation results show the superiority of the improved ant colony algorithm and the feasibility and effectiveness of the proposed multi-robot path planning method.