LIPING SUN et al: AN IMPROVED ANTS COLONY OPTIMIZATION ALGORITHM FOR PATH PLANNING OF ..
نویسندگان
چکیده
Ant colony algorithm suffers drawbacks such as slow convergence and easy to trap into local optimum, therefore the path planning for mobile robot based on an improved ant colony optimization algorithm is proposed. The workspace for mobile robot is established with grid method. A hybrid ant colony which is composed of common ants and exploratory ants is utilized to avoid trapping into local optimum. To increase the convergence speed, the pheromone update mechanism is improved by enhancing the sensitivity of the ants to the optimal path with reserving the elite ants. The optimal collision-free path can be planned rapidly in the workspace with multiple obstacles. Simulation and experiment results show that the algorithm is practical and effective.
منابع مشابه
Mobile Robot Path Planning Based on Multi-parameters Optimization Ant Colony Algorithm
The basic ant colony algorithm for mobile robot path planning has many problems, such as lack of stability,algorithm premature convergence, more difficult to find optimal solution for complex problems and so on. This paper proposes four improvement measures. 1. Apply genetic algorithm to optimization and configuration parameters of the basic ant colony algorithm; 2. Apply max min ant method to ...
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