基于蚁群算法和遗传算法的机器人路径规划分析-analysis of robot path planning based on ant colony algorithm and genetic algorithm.docxVIP

AbstractIn the field of intelligent robotics research, Path planning technology is a hot issue, searching the best path is the purpose of smart robot path planning, which cannot bump into any obstacle between the starting point and the target point in their working environment containing obstacles. Path planning methods include the traditional path planning methods and artificial intelligence path planning methods. Generally, intelligent path planning method not only has the approximation linear, self-learning, self-organizing function, but also has fault-tolerant ability, where the typical representatives are ant colony algorithm path planning method and genetic algorithm path planning method.Ant colony algorithm (ACA) is an artificial intelligent algorithm, and the genetic algorithm (GA) also belongs to intelligent algorithm, and both algorithms have implicit parallel search capability. The ant colony algorithm can make full use of pheromone positive feedback information to accelerate convergence on optimal problems, and has strong robustness; genetic algorithms is similar to the biological genetic crossover, mutation operation, saving outstanding indiv idual genes during evolution and eventually converge to the optimal solution, however when the population too much, the cross operation will become very complicated, therefore, making full use of the advantages of the two algorithms to solve the path planning problem is a hot issue.The path planning algorithm in the paper makes full use of both the ACA and GA advantages, based on the ant colony algorithm that the Max -Min Ant System (MMAS). The path planning algorithm by using local optimum path information and global optimal path information to update pheromone of the optimal path though adding weight factor; and import the idea of dual ant colony and cross-factor, and come out better path by crossing the iterative optimal path and the global optimal path, and update the global optimal path by the better path.Key