[1]赵娟平,高宪文,符秀辉.改进蚁群优化算法求解移动机器人路径规划问题[J].南京理工大学学报(自然科学版),2011,(05):637-641.
 ZHAO Juan-ping,GAO Xian-wen,FU Xiu-hui.Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot[J].Journal of Nanjing University of Science and Technology,2011,(05):637-641.
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改进蚁群优化算法求解移动机器人路径规划问题
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2011年05期
页码:
637-641
栏目:
出版日期:
2011-10-31

文章信息/Info

Title:
Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot
作者:
赵娟平12高宪文1符秀辉23
1. 东北大学信息科学与技术学院,辽宁沈阳110819; 2. 沈阳化工大学信息工程学院,辽宁沈阳110142; 3. 中科院沈阳自动化所,辽宁沈阳110015
Author(s):
ZHAO Juan-ping12 GAO Xian-wen1FU Xiu-hui23
1. School of Information Science and Technology,Northeastern University,Shenyang 110819,China; 2. School of Information Engineering,Shenyang University of Chemical Technology,Shenyang110142,China; 3. Shenyang Institute of Automation,Chinese Academy of Sci
关键词:
蚁群优化 路径规划 移动机器人 栅格法 双向并行搜索
Keywords:
ant colony optimization path planningmobile robots grids methods two-way parallel searching
分类号:
TP242
摘要:
针对蚂蚁双向并行搜索策略会丢失蚂蚁间的部分可行路径甚至最优路径的问题,该文采 用栅格法建立移动机器人环境模型,提出了根据信息素判断蚂蚁是否相遇的新的蚂蚁相遇判别 法。为避免算法陷入局部最优,提出了综合考虑多种因素的新的路径选择策略和全局信息素更新 策略。二维环境下的仿真研究表明,只要路径客观存在,算法就能快速地规划出相应的安全路径。
Abstract:
In view of that the ant colony optimization algorithm with a two-way parallel searching tactic has the defects of losing some feasible paths and even optimal paths, the environment models of a mobile robot are established by grids method and a new ants meeting judgment is used to solve the path planning problem of a mobile robot. The new judgment can judge if ants meet according to the kind of pheromones. A new path selecting method and a new global pheromone updating technique are proposed to avoid running into local optima. Simulation results of two-dimension environment indicate that improved algorithm can plan a safe optimal path quickly for the existing paths.

参考文献/References:

[1] 朱庆保,张玉兰. 基于栅格法的机器人路径规划蚁 群算法[J]. 机器人, 2005, 27( 2) : 132-136.
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[7] 李士勇,陈永强,李研. 蚁群算法及其应用[M]. 北 京: 哈尔滨工业大学出版社, 2004.
[8] Zhao Juanping,Gao Xianwen,Liu Jinggang,et al. Research of path planning for mobile robot based on improved ant colony optimization algorithm[A]. Proceedings of the 2nd International Conference on Advanced Computer Control [C]. Piscataway,USA: IEEE Computer Society, 2010: 241-245.
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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60334010) 作者简介: 赵娟平( 1972-) ,女,博士生,讲师,主要研究方向: 机器人控制、智能控制及其应用,E-mail: zjp020417@ 163. com。
更新日期/Last Update: 2012-10-24