The Path Planning to Robot Soccer based on Ant Colony Algorithm
An ant colony algorithm ensures fast optimization by positive feedback. The pre-maturity is avoided by the distributed calculation. It can find the acceptable answer at the beginning of the search progress due to its greedy illuminating searching speciality. The combination of ACS and GA can improve the effeciency of the local searching.By the introduction of the mutation to the basic ant colony algorithm, it can not only make the calculation faster ,but also more precise. This algorithm does some creationary job in the formation of distance heuristic information probability, dynamic determination of important weight coeffecient, effecient formation of the feasible solution and the selection of transition probability. And it can find a time-optimization path to avoid the obstacle.The simulation results prove the practicability and validity of the algorithm.
Fei YU Dong-mei LV Xi-mei LIU
College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingdao, China, 266042
国际会议
青岛
英文
2006-07-21（万方平台首次上网日期，不代表论文的发表时间）