基于逼近结构和分区蚁群算法的Voronoi图移动机器人路径规划

2009 International Conference on Computational Intelligence and Software Engineering Pub Date : 2009-12-28 DOI:10.1109/CISE.2009.5365942

Rui-Jie Wen, Hang-yu Wang, Jun Xie

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引用次数: 3

摘要

路径规划在移动机器人领域中占有重要地位，包括环境建模和路径搜索两个重要内容。采用近似构造一般图形的Voronoi图法，将原点和终点连接成图，构造无碰撞路线图。采用分区蚁群算法搜索原点到终点的最短路径。仿真结果表明，该方法简单有效。

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Path Planning of Mobile Robot Based on Voronoi Diagram by Approximation Structuring and Zonal Ant Colony Algorithm

Path planning plays an important role in the area of mobile robot, which includes two important contents: environment modeling and path searching. The method of Voronoi diagram for general figures by approximation structuring is utilized and the origin and terminal are linked into diagram to construct the non-collision road map. Zonal Ant Colony Algorithm is applied to search the shortest path between origin and terminal. Simulation results demonstrate that the method is simple and effective.

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来源期刊

2009 International Conference on Computational Intelligence and Software Engineering

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