一种蚂蚁粒子群融合的机器人路径规划新算法

计算机工程与应用 ›› 2007, Vol. 43 ›› Issue (31): 39-41.

一种蚂蚁粒子群融合的机器人路径规划新算法

国海涛,朱庆保,司应涛

南京师范大学数学与计算机科学学院,南京 210097

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-11-01 发布日期:2007-11-01
通讯作者: 国海涛

Novel path planning for robots syncretizing ant algorithm and particle swarm algorithm

GUO Hai-tao,ZHU Qing-bao,SI Ying-tao

School of Mathematics and Computer Science,Nanjing Normal University,Nanjing 210097,China

Received:1900-01-01 Revised:1900-01-01 Online:2007-11-01 Published:2007-11-01
Contact: GUO Hai-tao

摘要/Abstract

摘要： 研究了一种全新的蚂蚁粒子群融合的机器人路径规划算法。该方法首先用链接图建立机器人运动空间模型,在此基础上利用蚂蚁算法进行全局搜索得到全局导航路径,然后用粒子群算法局部调节全局导航路径上的路径点,得到更优路径。计算机仿真实验表明,即使在复杂的环境下,利用该算法也可以规划出一条全局优化路径,且能安全避障。

Abstract: An algorithm based on Ant Algorithm（AA） and Particle Swarm Optimization（PSO） algorithm for path planning of the robot is proposed.First the MAKLINK graph is built to describe the working space of the mobile robot,then the ant algorithm is used to obtain the global navigation path,and the particle swarm optimization algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably．

国海涛,朱庆保,司应涛. 一种蚂蚁粒子群融合的机器人路径规划新算法[J]. 计算机工程与应用, 2007, 43(31): 39-41.

GUO Hai-tao,ZHU Qing-bao,SI Ying-tao. Novel path planning for robots syncretizing ant algorithm and particle swarm algorithm[J]. Computer Engineering and Applications, 2007, 43(31): 39-41.