Research of Path Planning for Mobile Robot based on Improved Ant Colony Optimization Algorithm

摘要：

The paper proposes an improved ant colony optimizahon algorithm. This method first designs two fuzzy controllers to optimize three parameters α、β、ρ. Then it establishes a dynamic searching window for ants and chaos information are added when near-neighbour city table is conshtuted in order to increase research speed in initial stages of algorithm. In addition, the concept of active degree of city node is presented as future information to supervise ants to construct solution and update pheromone. Finally a new evaluation criterion is produced to distinguish where paths are excellent or not. So the strategy not only conquers the weakness of easily running into local optimization while making route optimization, but also enhances efficient convergence of ant colony optimization algorithm. Results of large numbers of computer simulations demonstrate that this novel algorithm can plan optimal path rapidly in intricate three dimension (3-D) environment.

关键词： Mobile Robot Path Planning Ant Colony Optimization Algorithm Fuzzy Control Dynamic Window Parameters Optimization

作者: ZHAO Juan-ping LIU Jin-gang GAO Xian-wen CHEN Ying-qiao

作者单位: College of Information engineering of Shenyang University of Chemical Technology Shenyang, China Col Shenyang Xinghua Aero-Electric Appliances Company of Limited Liability Shenyang, China College Information Science and engineering of Northeastern University Shenyang, China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 241-245

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）