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Research and Improvement of robot path planning based on ant colony algorithm

Author: FangXiang
Tutor: ChenXiong
School: Fudan University
Course: Electronics and Communication Engineering
Keywords: Mobile robot Path planning Ant Colony Algorithm Warning prime Honey diffusion method Less a search method
CLC: TP242.6
Type: Master's thesis
Year: 2008
Downloads: 354
Quote: 2
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Abstract


This article is mainly for the ant colony algorithm and its application in mobile robot path planning . Analyze and summarize the characteristics and shortcomings of various algorithms in the field already exists , the improved method and according to some of the inadequacies of the present study there . And through computer simulation program to verify the effectiveness of the improved algorithm , as well as some comparison results with the existing algorithms , and verify that the improved algorithm improvement in performance . The contents described in this article can be broadly divided into the following sections: 1) Overview of the Mobile Robot Path Planning discusses the history of the development of the mobile robot path planning and research status quo , to make the existing path planning algorithm classification and introduction to evolutionary computation represented by smart and cluster computing basic idea of the path planning and implementations . 2 ) the ant colony algorithm introduced from the origin of the ant colony algorithm and its development history, a more detailed description of the basic idea and the applications of the ant colony algorithm . And start from the prototype of the ant colony algorithm for TSP problem , given the basic framework for the operation of the algorithm , and detailed description of the process of the realization of the ant colony algorithm . Detailed research status quo of the ant colony algorithm in the path planning field , list and analyze the strengths and weaknesses of a known several typical algorithms . 3) based on warnings prime strategy of ant colony algorithm for the rotary structure in the original map coordinates special terrain path planning , proposed algorithm is based on the the \and using the inverse distance heuristic - taboo table access frequency adjustment function , improve the problem of the \Expanded the the model ant colony algorithm in the the more maps environment of adaptability . 4 ) based on honey diffusion method and less \ant colony algorithm , and detailed honey diffusion method and less \

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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