基于改进蚁群算法的机器人路径规划研究论文.doc

Classified Index: TP18 U.D.C: 629.78 Dissertation for the Master Degree in Engineering IMPROVEMENT OF ANT COLONY ALGORITHM AND ITS APPLICATION IN ROBOT PATH PLANNING  Candidate: Supervisor: Academic Degree Applied for: Specialty: Affiliation: Date of Defence: Degree-Conferring-Institution:  Guo Yu Prof. Li Shiyong Master of Engineering Control Science and Engineering Dept. of Control Science and Engineering June，2008 Harbin Institute of Technology 哈尔滨工业大学工学硕士学位论文  摘  要  蚁群算法是一种新兴的用于求解组合优化问题的启发式优化算法。它由意 大利学者 Dorigo 于 1991 年首次提出，最初被用于求解旅行商问题。从 1991 年至今近十七年的时间里，蚁群算法被成功地用于求解一系列复杂的组合优化 问题，如：