摘要
提出了一种改进的蚁群算法应用于灭火机器人路径规划。该算法利用自适应更新的策略设计出最佳避障路径,建立了简洁明了的蚁群优化算法,从而对灭火机器人行走路径进行了优化处理。该方法不仅使灭火机器人在未知环境寻找火源过程中能够有效避开障碍物,而且能使机器人行走路径最短,所用时间最少。经仿真和实物机器人实验证明了该算法的可靠性和有效性。
This paper put forward a kind of improved ant colony algorithm used in fire fighting robot path planning.The algorithm using the adaptive updating strategy planed the best obstacle avoidance path.The method established a concise,rigorous ant colony optimization function,which could optimize the path of the robot obstacle avoidance.This method not only made fire-fighting robots in unknown environment when looking for fire avoiding obstacles effectively,but also made the robot have walked shortest path.The simulation and experiment results indicate the reliability and validity of this algorithm.
出处
《内蒙古工业大学学报（自然科学版）》
2013年第1期50-55,共6页
Journal of Inner Mongolia University of Technology：Natural Science Edition
基金
内蒙古工业大学科学研究项目(ZS201140)
关键词
蚁群算法
机器人
路径规划
动态避障
fire-fighting robot
path planning
ant colony algorithm
dynamic obstacle avoidance
