摘要
针对机器人路径规划问题,提出一种改进的蚁群算法。建立栅格地图模型,结合蚁群算法,设置禁忌表,同时针对死锁问题,提出丢弃陷入死锁的蚂蚁;当蚂蚁迭代次数大于60代后,通过减小信息素增强系数Q,达到提高算法收敛速度的目的。实验结果表明,改进后的算法能快速规划出最优路径,同时能避免陷入死锁和局部优化。
An improved ant colony algoritlim for the path planning of robot is proposed.The grid map model and tabu list were set up Ty using the ant colony algorithms.At the same time,to solve the deadlock problem,it was suggest to discard the ants trapped in the deadlock.When the number of the ant iteration was greater than 60 generations,the speed of algorithm convergence was increased by reducing the strength coefficient of pheromone!The experiment results show that the improved algorithm can plan the optimal path quickly,and avoid deadlock and local optimization.
作者
方春城
孙培明
FANG Chun-cheng;SUN Pei-ming(Department of Mechanical and Electrical Engineering,Jieyang Polytechnic,Jieyang 522051,China)
出处
《测控技术》
CSCD
2018年第4期28-31,共4页
Measurement & Control Technology
基金
揭阳职业技术学院科研基金重点项目(JYCKZ1305)
关键词
机器人
路径规划
蚁群算法
栅格法
robot
path planning
ant colony algorithm
grid method
作者简介
方春城(1981-),男,广东惠来人,硕士,高级工程师,主要研究方向为自动控制技术、信息处理技术;;孙培明(1963-),男,广东揭阳人,本科,教授,主要研究方向为机械控制与设计。
