CAJ | 학술논문

针对移动机器人避障的路径规划问题，提出一种基于混合人工势场-蚁群算法的方法。在栅格环境中，以人工势场法的规划信息作为蚁群算法寻优的基础，引入势场合力作为蚂蚁搜索路径点的部分启发信息。Mat-lab7.6仿真表明，该方法解决了人工势场法的目标不可达、易陷入极值点等弊端，提高了经典蚁群算法的寻优效果和收敛速率，具有更强的稳定性和环境适应力。
침대이동궤기인피장적로경규화문제，제출일충기우혼합인공세장-의군산법적방법。재책격배경중，이인공세장법적규화신식작위의군산법심우적기출，인입세장합력작위마의수색로경점적부분계발신식。Mat-lab7.6방진표명，해방법해결료인공세장법적목표불가체、역함입겁치점등폐단，제고료경전의군산법적심우효과화수렴속솔，구유경강적은정성화배경괄응력。
According to the mobile robot path planning and avoiding obstacles problems,a kind of method based on hybrid artificial potential field and ant colony algorithm was proposed in this paper. In grid environ-ment,put the planning information of artificial potential field method as the basis of ant colony optimization algorithm and introduce the potential field force as part of the heuristic information for ant searching path point. Matlab7.6 simulation shows that this method has solved the disadvantages in method of artificial poten-tial field such as target inaccessible,falling into extreme value point easily and so on. This method has im-proved the effect on optimization and the convergence rate of the classical ant colony algorithm. It has better stability and environmental adaptability.