CAJ | 학술논문

为了提高移动机器人在复杂静态环境下快速、精确地实现避障路径规划的能力,在蚁群算法的基础上进行改进,采用最优-最差蚂蚁系统,并且引入最差路径信息素自适应参数以更好地寻找全局最优解.搜索过程中引入起点终点引导函数,优先搜索距离起点远而距终点近的节点.为提高算法的实用性,运用几何方法对路径进行修正处理.从而实现了机器人的快速、精确路径规划.通过计算机仿真研究表明:该算法具有较强的实用性,能明显改善路径规划性能,并且算法简单有效.
위료제고이동궤기인재복잡정태배경하쾌속、정학지실현피장로경규화적능력,재의군산법적기출상진행개진,채용최우-최차마의계통,병차인입최차로경신식소자괄응삼수이경호지심조전국최우해.수색과정중인입기점종점인도함수,우선수색거리기점원이거종점근적절점.위제고산법적실용성,운용궤하방법 대로경진행수정처리.종이실현료궤기인적쾌속、정학로경규화.통과계산궤방진연구표명:해산법구유교강적실용성,능명현개선로경규화성능,병차산법간단유효.
In order to increase mobile robot in complex static environment of rapid and precise to avoid obstacles path planning capacity,makes the improvement in the ant colony algorithm foundation, uses the most superior-worst ant system. And introduces the worst routing information usually auto-adapted parameter by better to seek the overall situation optimal solution. In the search process introduces the beginning end point guidance function,first searches from the beginning far is apart from the end point near node. In order to enhance the algorithm the usability, carries on revision processing using the geometry method to the way. To achieve the robot fast, accurate path planning. Through computer simulation research indicates that the algorithm of a more practical,and that would significantly improve path planning performance and algorithm is simple and effective.