• 中国计算机学会会刊
  • 中国科技核心期刊
  • 中文核心期刊

J4 ›› 2012, Vol. 34 ›› Issue (11): 153-157.

• 论文 • 上一篇    下一篇

机器人三维路径规划问题的一种改进蚁群算法

胡荟,蔡秀珊   

  1. (浙江师范大学数理与信息工程学院,浙江 金华 321004)
  • 收稿日期:2011-10-26 修回日期:2011-12-28 出版日期:2012-11-25 发布日期:2012-11-25
  • 基金资助:

    浙江省大学生科技创新活动计划(新苗人才计划)资助项目(2009R404056)

An Improved Ant Colony Algorithm for ThreeDimensional Path Planning of Robots

HU Hui,CAI Xiushan   

  1. (College of Mathematics,Physics and Information Engineering,Zhejiang Normal University,Jinhua 321004,China)
  • Received:2011-10-26 Revised:2011-12-28 Online:2012-11-25 Published:2012-11-25

摘要:

本文研究移动机器人三维空间路径规划问题,针对三维空间的复杂地形特点,提出了一种基于改进蚁群算法的路径规划算法。文中首先描述了一种简单有效的环境建模方法,然后给出了算法在信息素呈现、路径点选取、信息素更新以及启发式函数设计等方面的改进方法。仿真结果证明了算法的可行性和可靠性。

关键词: 三维空间, 路径规划, 蚁群算法, 环境建模, 信息素

Abstract:

As regards to the problem of mobile robot path planning in 3D space, a kind of path planning algorithm is presented based on the improved ant colony algorithm. This paper describes a simple and effective environment modeling method, and then provides methods of algorithm improvement on pheromone representation, route point choosing and pheromone updating and heuristic function design. The simulation results demonstrate our proposal's feasibility and reliability.

Key words: three dimensional space;path planning;ant colony algorithm;environment model;pheromone representation