基于改进蚁群算法的移动机器人路径规划研究-机械工程;机械电子工程专业论文.docxVIP

CONTENTSCoNTENTS CONTENTS CoNTENTS Abstract in Chinese ．I Abstract in English ．III l IntrOductiOn 1 1．1 The research background and significance ．．1 1．2 The current situation of the intelligent mobile robot ．1 1．2．1 Foreign research status 2 1．2．2 Domestic research status 3 1．3 Paper structure arrangement and content ．．3 2 The key technical analysis on mobile robot 5 2．1 Mobile robot system composition structure 5 2．2 Mobile robot localization method research ．5 2．3 General situation of path planning research 6 2．3．1 The environment map building ．．6 2．3．2 Intelligent path planning algorithm ．8 2．4 Brief summary of the chapter 1 1 3 Basic ant colony algorithm for path planning 1 2 3．1 Artificial ants swarm algorithm basic idea 12 3．1．1 The differences between the artificia and real ants 12 3．1．2 Artificia ants swarm algorithm implementation process 13 3．2 Basic principle of ant colony algorithm ．1 3 3．3 Model of basic ant colony algorithm 1 6 3．4 Simulation analysis for basic ant colony algorithm path planning 1 9 3．5 Brief summary of the chapter 23 4 Path planning for improved ant colony algorRhm ．24 4．1 Species initialization 24 4．2 Pheromone initialization ．．25 4．3 Route update ．26 4．3．1 Crossover operator ．．27 4．3．2 Mutation operator 30 4．4 Pheromone update ．3 1 4．4．1 Elite group 3 1 4．4．2 Optimal permutation ”32 4．5 Pheromones smooth trajectory ．35 III 万方数据 东北农业大学工学硕士学位论文4．6 东北农业大学工学硕士学位论文 4．6 Algorithm implementation ··35 4．7 Brief summary of the chapter 36 5 Simulation experiments and analysis 3， 5．1 Simulation parameters selection of ant colony algorithm ．．37 5．1．1 Ants number ．37 5．1．2 Pheromone volatilization factor ．38 5。1．3 Information incentive and expectations incentive factors ．40 5．1．4 Pheromone intensity ．．42 5．1．5 Crossover and mutation probability ．42 5．2 Two—dimensional path planning ．·43 5．2．1 The simulation analysis 43 5．2．2 Algorithm performance analysis 45 5．3 Improved ant colony algorithm applied to the three-dimensional path planning ·46 5．