基于改进蚁群算法的移动机器人全局路径规划*

作者：章小兵，乔茹，赵光兴 日期：2009-04-21/span> 浏览：4067 查看PDF文档

基于改进蚁群算法的移动机器人全局路径规划*

章小兵，乔茹，赵光兴
（安徽工业大学 电气信息学院，安徽 马鞍山 243002）

摘要：为提高机器人全局路径规划的通用性，将机器人的环境地图分为目标点在障碍物内和障碍物外两种情况，采用了伪随机比例规则和随机选择机制，使蚂蚁下一节点的选择在倾向于目标点的同时又不会陷入局部最优解，既提高了蚂蚁的搜索效率又扩展了搜索范围，并采用最大-最小蚂蚁思想来限制信息素的强度以防止早熟收敛现象的发生。为提高算法的实用性，运用几何方法对路径进行了修正处理，实现了机器人的快速全局路径规划。仿真研究表明：该算法具有较强的通用性、实用性和路径较优的特点。
关键词：移动机器人；路径规划；蚁群算法；随机选择机制
中图分类号：TP24文献标识码：A文章编号：1001-4551(2009)03-0090-04

Global path planning of mobile robot based on improved ant colony algorithm
ZHANG Xiao-bing, QIAO Ru, ZHAO Guang-xing
(School of Electrical Engineering & Information, Anhui University of Technology, Maanshan 243002, China)
Abstract: Aiming at enhancing the versatility of global path planning of mobile robot, disparting the robots working spaces that the goal was inside the obstacles and outside the obstacles, the pseudorandom proportion rule and the random choice mechanism were used in order to make the choice of ant colonys path incline goal and not get into local optimization .Maxmin ant system which could limit global pheromone intensity was adopted to prevent the precocious convergence. Path was modified by geometry method to enhance the arithmetics practicability. Global path planning of mobile robot was realized. Simulation results show that the characteristics of the proposed method are powerful universal capability , practicability and good paths.
Key words: mobile robot; path planning; ant colony algorithm; random choice mechanism
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