自适应蚁群算法在空间机器人路径规划中的应用

Research on path planning of robot using adaptive ant colony system

摘要:

为了弥补传统路径规划方法缺乏足够鲁棒性的问题,采用自适应蚁群算法实现了空间机器人路径规划.针对传统蚁群算法在计算初期出现停滞的现象,修改了信息激素物质的更新方法.自适应蚁群算法根据学习次数和与最近障碍物的距离来调节信息激素物质.仿真结果表明,该算法在采用较少蚂蚁的情况下,与一般蚁群算法相比,能够快速找到理想路径.

Abstract:

Aimed at the less robustness of conventional path planning method,an adaptive ant colony algorithm is presented to realize the path planning of space robot.The ant colony algorithm modifies the updating method of pheromone based on the distance between the learning times and the closest obstacle to reduce the stagnation behavior of the conventional ant colony algorithm in the initial calculation.Simulation results show that the proposed algorithm can obtain better path with less ants than the conventional ant colony system.