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通过栅格法建立栅格地图作为机器人路径规划的工作环境,采用蚁群算法作为机器人路径搜索的规则.将所有机器人放置于初始位置,经过NC次无碰撞迭代运动找到最优路径,到达目标位置.为防止机器人在路径搜索过程中没有达到最大迭代次数时路径大小已不发生变化而陷入局部最优,可通过对各路径上的信息素进行增减来使机器人路径搜索跳出当前值继续搜索,直到迭代完毕,获得最优路径.
Abstract：Regarding the Grid Map built by Grid Method as the mobile robot path planning work environment,the Ant Colony Algorithm was used as the rule of path-searching for mobile robot.All robots,starting from the initial position,go through NC times collision free iteration motion to obtain the optimal solution,and arrive at the target position at last.In order to prevent the robot from running into the trouble of local optimum in path searching course while not reaching the maximum iteration times but the path not changing,the counterplan with increasing or cutting the pheromone trails of each path was put forward to make the robots jump out of the current value and continue their searching for survivors until the end of the iteration process.Thus,the optimal path for mobile robot based on Grid Map with Ant Colony Algorithm is planned and then obtained.
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基本信息:
中图分类号:TP242.6
引用信息:
[1]周东健,张兴国,马海波,等.基于栅格地图-蚁群算法的机器人最优路径规划[J],2013,12(04):91-94.