全局未知环境下多机器人运动蚂蚁导航算法-软件学报.PDFVIP

ISSN 1000-9825, CODEN RUXUEW E-mail: jos@ Journal of Software, Vol.17, No.9, September 2006, pp .1890−1898 http://www.j DOI: 10. 1360/jos171890 Tel/Fax : +86-10 © 2006 by Journal of Software. All rights reserved. ∗ 全局未知环境下多机器人运动蚂蚁导航算法 朱庆保+ (南京师范大学 计算机科学系,江苏 南京 210097) Ant Algorithm for Navigation of Multi-Robot Movement in Unknown Environment ZHU Qing-Bao+ (Department of Computer Science, Nanjing Normal University, Nanjing 210097, China) + Corresponding author: Phn: +86-25 Fax: +86-25 E-mail: qbzhu@ Zhu QB. Ant algorithm for navigation of multi-robot movement in unknown environment. Journal of Software, 2006,17(9):1890−1898. /1000-9825/17/1890.htm Abstract: The navigation problem of multi-robot movement in a complex and unknown environment is studied in the paper. A new algorithm, ants navigation algorithm, is presented. At the start the method maps the global targets onto the area near the border of the robot ’s eyeshot, and takes them as the local targets. Then two groups of ants will be cooperating to complete the search for the local optimal path in the robot ’s eyeshot. Based on these configurations, the algorithm can predict possible collision with other robots and execute subsequent avoidance plans. The local search will be executed by the algorithm repetitively whenever the robot progresses a step. So, the path of the robot will be altered dynamically, which makes the robot move on the global optimal path to the ending node. The simulation results indicate that the optimal path, which the robot moves on, can lead the robot to reach the end safely even in complicated geographical environment. The effect is very satisfactory. Key