基于蚁群优化算法的机器人规划.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 基于蚁群优化算法的机器人规划 赵冬斌，易建强 中国科学院 自动化研究所复杂系统与智能科学重点实验室, 北京 100080 E-mail: dongbin.zhao@ia.ac.cn 摘 要: 本文研究了蚁群优化算法在机器人结构空间规划的问题。机器人规划就是在复杂的结构空间中，找到一 条由起始点到目标点避障的可行路径。针对这个问题，已经提出了很多的求解算法，但采用蚁群优化算法的研 究还很少。受旅行商问题求解的最大最小蚁群优化算法启发，提出了一种改进的机器人规划的蚁群优化算法。 算法具有一些突出的特性，如路径剪裁机理等。通过在不同环境下的仿真试验，验证了算法总能以很高的概率 得到机器人规划问题的最优解。 关键词: 机器人规划，蚁群优化算法，最优 Robot Planning with Ant Colony Optimization Algorithms Zhao Dongbin, Yi Jianqiang Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 E-mail: dongbin.zhao@ia.ac.cn Abstract: Ant colony optimization algorithms are investigated in this paper for robot planning in configuration space. The robot planning problem is to find a feasible path from a beginning to a goal while avoiding obstacles in a clustered environment. Lots of attentions have been paid on such problems, but little is with the ant colony optimization algorithms. Originated from the MAX-MIN Ant System (MMAS) algorithm for traveling salesman problem, a modified ant colony optimization algorithm for robot planning is proposed. The algorithm has some distinguished features, such as a path pruning mechanism, etc. The optimal solution can be achieved effectively in different environments with a high probability. Key Words: Robot planning, Ant colony optimization, Optimal 蚁在经过的路径上留下了一种叫做信息素的物质， 1 前言(Introduction) 后面的蚂蚁也可以感觉到这种物质，并根据其强度 高低决定自己的路径。因此，路径长度