蚁群算法及其在移动机器人路径规划中的应用讲解VIP专享

下载后可任意编辑蚁群算法及其在移动机器人路径规划中的应用摘要移动机器人路径规划是机器人讨论领域的核心内容之一,具有复杂性、约束性和非线性等特点。蚁群算法(ACA)是最近十几年进展起来的仿生优化算法,该算法在解决许多复杂问题方面已经展现出其优异的性能和巨大的进展潜力。本文主要讨论静态环境下基于蚁群算法的移动机器人全局路径规划。采纳栅格法建立环境模型,并利用做过改进的基本蚁群算法在栅格环境模型中进行路径规划,这些改进有:利用伪随机比例规则代替随机比例规则进行路径转移;限制了蚂蚁行至当前栅格时下一步允许选择的栅格范围;对启发函数进行了重新定义;让蚂蚁根据转移概率利用“轮盘赌”方法选择下一个栅格。关键词:蚁群算法,移动机器人，路径规划,栅格AbstractThe path planning for mobile robots is one of the core contents of the filed of robotics research with complex,restrictive and nonlinear characteristics.The ant colony 下载后可任意编辑algorithm (ACA)is a new bionics optimization algorithm developed in the past decade,it shows excellent performance and great potential for development when solving many complex problems.This thesis mainly studies global path planning for mobile robots based on ACA in static environment.Grid method is used to establish the environment model and some modifications are made to accommodate ACA to path planning in grid-based environment.These modifications include:using the proportional rule instead of the random proportional rule to choose path;limiting the scope of the next grid allowed to be chosen by the ants;redefining the heuristic function;Using the roulette to choose the next grid for the ants.Keywords: ACA,mobile robots,path planning,grid1.引言至今，在工业制造中，机器人学已经取得了伟大的成功。机器人手臂或机械手在装配线中也发挥了越来越重要的作用。但是，所有这些成功的应用，商用机器人都存在着一个根本的缺点：缺乏机动性。相反移动机器人可以行走整个车间，灵活地在它最有效的地方施展它的才能。其中亚马逊物流机器人已经成功地在物流方面得到了应用...