机器人路径规划的一种改进蚁群算法

介绍了一种静态环境下机器人路径规划的改进蚁群算法。该算法使用栅格法对机器人的工作空间进行建模。搜索过程采用了蚂蚁落入陷阱回退策略和蚂蚁相遇策略,从而避免了遇到陷阱时形成的路径死锁情况,同时也提高了最优路径的搜索效率。仿真研究表明,该算法能明显改善路径规划性能,并且算法简单有效。

An ImproVed Ant Colony Algorithm for Robot Path Planning

An improved ant colony algorithm is proposed for robot path planning under a static environment. Grid method is used to establish workspace model of the robot. Furthermore, the strategy of backspace from traps and the meeting strategy were applied to path planning of mobile robot, so it avoided path-locked situation as well as improved the efficiency of planning optimal path. The simulation results show that the performance of path planning can be obviously improved by the proposed ant colony algorithm, and the algorithm is very simple and efficient.