一种动态窗口下改进的机器人路径规划-计算机工程与应用.PDF

244 2012 ，48 （22 ） Computer Engineering and Applications 计算机工程与应用 一种动态窗口下改进的机器人路径规划 陈光明，曾 碧，吕 凌 CHEN Guangming, ZENG Bi, LV Ling 广东工业大学 计算机学院，广州 510006 Computer College, Guangdong University of Technology, Guangzhou 510006, China CHEN Guangming, ZENG Bi, LV Ling. Improved method of robotic path planning in pynamic window. Com- puter Engineering and Applications, 2012, 48 （22 ）：244-248. Abstract ：A method of dynamic window of candidate solution is proposed in this paper for path planning using ant colony algorithm. The method divides the window in which candidate solutions are distributed firmly and uniformly into several blocks, and then lets candidate solutions simulate the special ants to choose a certain block with a cer- tain probability according to the heuristic and the sum of pheromone of the upper connection of all candidate solu- tions after several iteration of ant colony algorithm. Finally, candidate solutions and pheromone in every blocks are reallocated, so that solution can be refined. Ultimately, ant colony can search a best solution of path. Simulation ex- periments and comparison results show that the performance of dynamic window of candidate solution is better than the fixed window of candidate solution. Key words ：dynamic window of candidate solution; ant colony algorithm; path planning 摘 要：提出了蚁群路径规划算法中一种动态候选解窗口的方法。该方法首先在固定均匀分布候选解的窗口 上划分成若干分块，接着将负责路径规划的主蚁群的候选决策点看作一系列具有候选解属性的蚂蚁，再用该 蚁群算法根据每分块上所有候选解上游连接边上的信息素及其启发信息以一定概率动态分布候选决策点，从 而细化候选解，最终使蚁群能搜索到一条更好的路径解。仿真实验和对比的结果表明，动态候选解窗口方法 比固定均匀分布候选解的方法可获得更优的性能。 关键词：动态候选解窗口；蚁群算法；路径规划 文章编号：1002-8331（2012 ）22-0244-05 文献标识码：A 中图分类号：TP24 1 引言 创建，其候选解是固定均匀分布的。为了优化问题 未知动态环境下的移动机器人路径规划问题是 解的性能，提出了动态候选解窗口的方法，旨在蚁群 一个NP 难问题，目前仍是国内外研究的热点。现有 规划过程中，根据滚动窗上聚集的信息素浓度的高 [1] 低，重新细化候选解，从而优化路径规划算法的性能。 的较为智能的方法主要有：遗传算法 、模糊逻辑方 [2] [3] [4]