Dynamic path planning of mobile robot based on ant colony algorithm

Zhuo-Qun Long
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引用次数: 3

Abstract

The thesis makes vehicle in cross-country environment as research object, and uses improved ant colony algorithm to research and analyse the cross-county path planning. First, improved ant colony algorithm is used to research cross-county path planning of vehicle, then slope table and roughness table are introduced to analyse topographic slope and land surface property's affect on path planning, and path optimisation algorithm is designed considering restriction of slop and roughness. Simulation result shows that this algorithm can realise cross-county path planning with speediness and efficiency. Experimental result demonstrates that the improved ant colony algorithm has stronger feasibility and better searching capability.
基于蚁群算法的移动机器人动态路径规划
本文以越野环境中的车辆为研究对象,采用改进的蚁群算法对越野路径规划进行研究和分析。首先,采用改进蚁群算法研究车辆跨县路径规划,然后引入坡度表和粗糙度表分析地形坡度和地表性质对路径规划的影响,并设计考虑坡度和粗糙度约束的路径优化算法。仿真结果表明,该算法能够快速、高效地实现跨县路径规划。实验结果表明,改进后的蚁群算法具有更强的可行性和更好的搜索能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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