室内服务机器人路径导航系统设计及算法

随着各行业智能化的快速发展,室内服务机器人逐渐地走进了人们的日常生活中。针对日益复杂的室内环境以及对机器人路径规划技术要求的不断提高,本文采用激光雷达、底盘驱动、人机交互等功能模块相结合,设计了一种室内服务机器人路径导航系统。同时对传统蚁群算法进行改进,提出了自适应信息素浓度和动态信息素挥发因子,使改进后的蚁群算法具有较高的全局搜索能力,避免了传统蚁群算法前期易陷入局部最优的问题,最后将改进后的蚁群算法应用到移动机器人路径规划上。为了验证改进蚁群算法的有效性,用MATLAB软件进行仿真分析,仿真结果证明了改进蚁群算法在移动机器人路径规划时具有较强的全局寻优能力,同时提高了收敛速度。

Algorithm Research and path navigation system desigan of indoor service mobile robot

With the rapid development of intelligent industry, indoor mobile service robot has gradually entered into people''s daily life. In view of the increasingly complex indoor environment and the continuous improvement of the technical requirements of robot path planning, an indoor service mobile robot path navigation system was designed, the system was composed of lidar, chassis drive, human-computer interaction and other functional modules. At the same time, the traditional ant colony algorithm was improved, and the adaptive pheromone concentration and dynamic pheromone volatilization factor were proposed, so that the improved ant colony algorithm had a high global search ability, avoiding the problem that the traditional ant colony algorithm is easy to fall into the local optimum in the early stage. Finally, the improved ant colony algorithm was applied to the path planning of mobile robot. In order to verify the effectiveness of the improved ant colony algorithm, MATLAB software was used for simulation analysis. The simulation results show that the improved ant colony algorithm has strong global optimization ability in the path planning of mobile robot, and improves the convergence speed.