微处理机
微處理機
미처리궤
MICROPROCESSORS
2015年
4期
45-48
,共4页
趋化行为%蚁群算法%路径规划%多障碍物,障碍检测%叛逆蚂蚁
趨化行為%蟻群算法%路徑規劃%多障礙物,障礙檢測%叛逆螞蟻
추화행위%의군산법%로경규화%다장애물,장애검측%반역마의
Chemotactic behavior%Ant colony algorithm%Path planning%Many obstacles%Obstacle detection%Rebellious ants
针对蚁群算法个体的薄弱性，提出了一种基于细菌趋化的集成算法。算法中蚂蚁个体借助细菌的趋向性不仅弥补了自身觅食的盲目性，也使蚂蚁个体具备了障碍检测预警能力，从而提高了整个蚁群的路径规划效率。另外，通过设置叛逆蚂蚁，保障了蚁群路径选择的多样性，提高了路径规划效果。实验表明，算法能在多障碍物环境下有效地解决机器人路径规划问题。
針對蟻群算法箇體的薄弱性，提齣瞭一種基于細菌趨化的集成算法。算法中螞蟻箇體藉助細菌的趨嚮性不僅瀰補瞭自身覓食的盲目性，也使螞蟻箇體具備瞭障礙檢測預警能力，從而提高瞭整箇蟻群的路徑規劃效率。另外，通過設置叛逆螞蟻，保障瞭蟻群路徑選擇的多樣性，提高瞭路徑規劃效果。實驗錶明，算法能在多障礙物環境下有效地解決機器人路徑規劃問題。
침대의군산법개체적박약성，제출료일충기우세균추화적집성산법。산법중마의개체차조세균적추향성불부미보료자신멱식적맹목성，야사마의개체구비료장애검측예경능력，종이제고료정개의군적로경규화효솔。령외，통과설치반역마의，보장료의군로경선택적다양성，제고료로경규화효과。실험표명，산법능재다장애물배경하유효지해결궤기인로경규화문제。
In order to solve the individual weakness of ant colony algorithm,an integrated algorithm is proposed based on bacterial chemotaxis.This improvement,combining tendency of bacteria,not only makes up the blindness for foraging itself,also makes the ant individuals possess the ability of obstacle detection warning,so as to improve the efficiency of path planning of the whole ant colony.In addition, by setting the rebellious ants,the diversity of the ant colony routing is guaranteed and the effect of the path planning is improved.The experimental results show that the algorithm can effectively solve the problem of robot path planning in many obstacles environment.
