Abstract:

Path planning is a promising research domain in the field of mobile robot. Ant colony algorithm is widely used in path planning of mobile robot. Firstly, several common ant colony algorithms are introduced in this paper, and then the existing improved ant colony algorithms are classified and discussed according to ant colony algorithm structure, parameter selection and optimization, pheromone updating and optimization, etc. At the same time, the application of multi ant colony optimization algorithm and hybridized ant colony algorithm in path planning of mobile robot is classified and analyzed. Finally, the future research contents and hotspot of ant colony algorithm in path planning of mobile robot are prospected from the aspects of theoretical research, hybridized algorithm and multi ant colony algorithm.

Key words: ant colony algorithm, path planning, pheromone updating, hybrid algorithm, population diversity

摘要：

路径规划是移动机器人领域的一个研究热点，蚁群算法在移动机器人的路径规划得到广泛应用。介绍了常见的几种蚁群算法，从蚁群算法结构、参数选取及优化、信息素优化等方面对已有的蚁群算法方法进行了分类综述，同时对多蚁群优化算法、融合蚁群算法在移动机器人路径规划的应用进行了分类比较与分析。从蚁群算法的理论研究、算法融合、多蚁群算法研究等方面对蚁群算法在移动机器人路径规划中的未来研究内容和研究热点进行展望。

关键词: 蚁群算法, 路径规划, 信息素更新, 融合算法, 种群多样性