Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (31): 39-41.

• 学术探讨 • Previous Articles     Next Articles

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

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

  1. 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

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   

  1. 南京师范大学 数学与计算机科学学院,南京 210097
  • 通讯作者: 国海涛

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.

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。