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Improved ant colony algorithm of path planning for mobile robot
Authors
刘金刚
符秀辉
赵娟平
高宪文
Publication date
1 January 2011
Publisher
Abstract
针对蚁群算法易陷入局部最优的缺点,提出了一种复杂静态环境下移动机器人路径规划的改进蚁群优化算法—差分演化混沌蚁群算法.该算法利用差分演化算法进行信息素的更新,同时对可能出现的停滞现象,在信息素更新时加入了混沌扰动因子,算法还采用了一个新的评价函数; 从而增强了算法的逃逸能力,避免了路径死锁现象,也提高了最优路径的搜索效率.仿真结果表明:即使在障碍物非常复杂的环境,本算法仍能快速规划出安全的优化路径.效果令人满意
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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oai:ir.sia.cn/:173321/7268
Last time updated on 12/02/2018
Institutional Repository of Institute of Automation, CAS
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oai:ir.sia.cn/:173321/7268
Last time updated on 29/11/2016