[1]刘广瑞,刘军,孔令云..移动机器人路径规划蚁群算法及其收敛性分析[J].郑州大学学报(工学版),2012,33(02):24-27.[doi:10.3969/j.issn.1671-6833.2012.02.006]
　LIU Guangrui,LIU Jun,KONG Lingyun.Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis[J].Journal of Zhengzhou University (Engineering Science),2012,33(02):24-27.[doi:10.3969/j.issn.1671-6833.2012.02.006]
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移动机器人路径规划蚁群算法及其收敛性分析()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
33
期数:
2012年02期
页码:
24-27
栏目:
出版日期:
2012-03-10

文章信息/Info

Title:
Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis
作者:
刘广瑞; 刘军; 孔令云.
郑州大学机械工程学院,河南郑州,450001, 黄河科技学院工学院,河南郑州,450005
Author(s):
LIU Guangrui; LIU Jun;  KONG Lingyun
1. School of Mechaniea! Engineering, 2hengzhou University, 2hengzhou 450001, China; 2. School of industry, Huanghe institute of Science and Technology,Zhengzhou 450005 ,China
关键词:
移动机器人;  路径规划;  蚁群算法;  收敛性
Keywords:
mobile robot;  path planning; ant colony algorithm ; convergence
分类号:
TP24
DOI:
10.3969/j.issn.1671-6833.2012.02.006
摘要:
移动机器人的路径规划是按照某一性能指标搜索一条从起点到目标点的最优或次最优的无碰撞路径.将蚁群算法用于移动机器人的路径规划,阐述了移动机器人路径规划蚁群算法的基本原理,指出蚁群算法的迭代过程是马尔科夫过程,分析了蚁群算法的收敛性,提出了改善蚁群算法收敛性的途径.仿真结果表明:该算法能够在较短的时间内规划出较优的路径,且该算法有效可行.
Abstract:
Abstract: Path planning of mobile robot is a hunting for optimal or suboptimalcollisionless path from startingpoint to destination point according to one type of performance index, The ant colony algorithm is applied tothe path planning of mobile robot, the principle of ant colony algorithm of path planning for mobile robot is represented in the first place, then it is pointed out that the interaction course of ant colony algorithm is theMarkov process, the convergence of ant colony algorithm is analyzed, and the improvement method of conver.gence for ant colony algorithm is put forward. The simulation results show that: the algorithm in a short periodof time to plan a better path ,and effectiveness and feasibility of the algorithm is certified by simulation analysis.

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更新日期/Last Update: 1900-01-01