计算机工程与应用 ›› 2012, Vol. 48 ›› Issue (2): 245-248.

• 工程与应用 • 上一篇    

复杂环境下基于贝叶斯决策的机器人路径规划

王 娟1，朱庆保1，2，崔 靖1   

  1. 1.南京师范大学 计算机科学与技术学院，南京 210097
    2.江苏省信息安全保密技术工程研究中心，南京 210097
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2012-01-11 发布日期:2012-01-11

Robot path planning based on Bayes decision in complex environment

WANG Juan1, ZHU Qingbao1，2, CUI Jing1   

  1. 1.School of Computer Science and Technology, Nanjing Normal University, Nanjing 210097, China
    2.Jiangsu Research Center of Information Security and Confidential Engineering, Nanjing 210097, China
  • Received:1900-01-01 Revised:1900-01-01 Online:2012-01-11 Published:2012-01-11

PDF

摘要： 提出了一种基于贝叶斯决策的机器人路径规划蚂蚁算法，该算法在路径节点选择方式上采用贝叶斯模型，通过后验概率对候选节点进行评估，解决了用传统蚂蚁算法进行路径规划时容易陷入局部最优的问题。仿真实验表明，机器人应用该算法可在复杂障碍环境下快速规划出一条全局优化避障路径。

关键词: 路径规划, 蚂蚁算法, 贝叶斯决策, 连续型障碍物

Abstract: An improved ant colony algorithm based on Bayes decision is proposed to plan an optimal collision-free path for mobile robot. It adopts Bayes model in the method of selecting path’s nodes and makes use of posterior probability for estimating candidate node, which solves the phenomenon of easily plunging into a local optimum existing in traditional ant colony algorithm. The results of simulations demonstrate that the best path can be found in a short time even in complicated environments, the effect being very satisfactory.

Key words: path planning, ant colony algorithm, Bayes decision, continuous obstacles

京ICP备13024262号-1
Copyright © 《计算机工程与应用》编辑部
技术支持：北京玛格泰克科技发展有限公司
总访问量
今日访问
在线人数