基于改进蚁群算法的复杂环境路径规划

Complex Environment Path Planning Based on an Improved Ant Colony Algorithm

针对蚁群算法在复杂环境下难以收敛、最优值差的问题,提出了一种改进蚁群算法。引入修正策略,提出两种局部修正方法以减少无效路径。提出一种自适应信息素更新机制,将初始信息素与蚂蚁所释放的信息素区分挥发;针对每次迭代蚂蚁所释放的信息素,通过设计时变挥发因子的变化律单独挥发,得到自适应挥发强度的信息素挥发机制。最后,将算法应用到不同复杂环境,与已有改进蚁群算法对比分析,研究结果说明改进算法在有效时间、平均距离、最短距离的优越性。

This paper proposes an improved ant colony algorithm to solve the problem of slow and poor convergence.First,a correction strategy is introduced,which includes two local correction methods to reduce invalid paths.Second,an adaptive pheromone updating mechanism is developed to distinguish and volatilize the initial pheromone from the pheromone released.For the pheromone released in each iteration,a change law of time-varying volatilization factor is designed to volatilize independently and obtain pheromone volatilization mechanism with adaptive volatilization intensity.Finally,the proposed algorithm is applied to mobile robot path planning.Compared with the existing improved ant colony algorithms,the results show that the improved algorithm is excellent in terms of effective time,average distance and shortest distance.