基于agent的蚁群觅食行为建模及在机器人路径规划问题中的应用.pdfVIP

Vo l. 31 No.l 第 31 卷第 1 期 计算机应用研究 2014 年 1 月 Application Research of Computers Jan.2014 基于 agent 的蚁群觅食行为建模及在 机器人路径规划问题中的应用* 柏继云I 气李士勇l (1.哈尔滨工业大学控制科学与工程系，哈尔滨 15∞01; 2. 东北农业大学理学院，哈尔滨 150030) 摘 要:为了对议群觅食原理进行研究和应用，引入 agent 的建模仿真方法对蚂蚁觅食行为进行建模和仿真，通 过建立蚂蚁的增加感知信息的路径选择规则、信息素更新的奖惩规则等多个有效的行为规则强化了蚂蚁选珞的 智能性、快速性，与现有经典文献对比确定所建模型的有效性。为了验证蚂蚁觅食行为模型的适应性和应用价 值，还将改进模型用于移动机器人局部路径规划。通过仿真可知，蚂蚁觅食行为模型在复杂多变的环境下能够 快速确定最优路径。 关键词:克食行为模型;复杂适应系统; agent; 行为规则;机器人路径规划l 中圄分类号: TP18 文献标志码:A 文章编号: 1 ∞1-3695 (2014 )01-∞47-04 doi: 10. 3969/j. issn. 1001-3695.2014.01.010 Modeling of ant colony foraging behavior based on agent and application of model in robotic path planning BAI Ji-yun l.2 , LI Shi-yongl ( 1. Dept. 0/ Control Science Engineering. Hα， rbin lnstitute 0/ Technology , Hα， rbin 15∞01 , China; 2. College 0/ Science , Northeast Agricultu- rαl University , Harbin 150030 , Chinα) Ab唱tract: In order to research and application of ant foraging theory , this paper introduced the modeling method based on agent to construct the ant colony foraging behavior mode l. Through constructing many effective ant behavior rules such as the path selection rules which was added the function of perceiving information , the reward and punishment rules which could re- generate the pheromone , strengthened the speed and the intelligence of ant routing. And comparing with the existing classic literature , it determined the effectiveness of the mode l. In order to verify the ada