Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm

LIU Chang-an; YAN Xiao-hu; LIU Chun-yang; WU Hua

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Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm

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- Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm
- Acta Electronica Sinica Vol. 39, Issue 5, Pages: 1220-1224(2011)
- 作者机构：
  
  华北电力大学控制与计算机工程学院,北京,102206
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Published：2011
- 稿件说明：
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LIU Chang-an, YAN Xiao-hu, LIU Chun-yang, et al. Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm[J]. Acta Electronica Sinica, 2011, 39(5): 1220-1224.
DOI：

LIU Chang-an, YAN Xiao-hu, LIU Chun-yang, et al. Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm[J]. Acta Electronica Sinica, 2011, 39(5): 1220-1224. DOI：

摘要

本文提出了基于改进蚁群算法的移动机器人动态路径规划方法.首先针对蚁群算法收敛速度慢

容易陷入局部最优的缺点

提出了根据目标点自适应调整启发函数

提高算法的收敛速度;借鉴狼群分配原则对信息素进行更新

避免搜索陷入局部最优.其次为了优化改进蚁群算法的性能

提出用粒子群算法对改进蚁群算法的重要参数进行优化选择.最后实现了基于改进蚁群算法的移动机器人动态路径规划并完成了仿真实验

实验结果证明了该方法的可行性和有效性.

Abstract

The dynamic path planning for mobile robot based on improved ant colony optimization algorithm is presented.Firstly

to increase the convergence speed

the heuristic function modified adaptively according to the target point is proposed.To avoid the local optimum

the rule updating the pheromone based on the assignment rule of wolf colony is proposed.Secondly

to optimize the performance of the improved ant colony

the important parameters of the improved ant colony optimization algorithm are optimized by the particle swarm optimization.Finally

the dynamic path planning for mobile robot based on improved ant colony optimization algorithm is implemented and the simulation experiments are finished.From the results

it can see that the dynamic path planning method is viable and efficient.

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