CAJ | 학술논문

通过对蚁群算法原理的分析及机器人路径规划的研究，在MMAS的基础上，引入节点活跃度的蚁群算法，对基于栅格法的机器人路径搜索收敛性进行了数值模拟研究，结果表明，在改进的蚁群算法控制下，收敛速度较快且全局稳定性较高。完成了机器人分级控制系统的硬件设计与软件设计，通过实验测试，验证了控制系统在复杂环境下的高效寻迹能力。
통과대의군산법원리적분석급궤기인로경규화적연구，재MMAS적기출상，인입절점활약도적의군산법，대기우책격법적궤기인로경수색수렴성진행료수치모의연구，결과표명，재개진적의군산법공제하，수렴속도교쾌차전국은정성교고。완성료궤기인분급공제계통적경건설계여연건설계，통과실험측시，험증료공제계통재복잡배경하적고효심적능력。
Through the analysis of the ant colony algorithm principle and the study of robot path planning, the active nodes are introduced in ant colony algorithm based on the MMAS. The robot ’s trajectory search with grid method of convergence is simulated, and the results show that the convergence speed is improved and stability is higher by using ant colony algorithm. The robot control system hardware and software design are completed, through the experiment test, high efficient tracing ability of the control system is verified in a complex environment.