Hybrid Algorithm of Mobile Position-Trajectory Control

摘要

The paper describes a hybrid algorithm of position-trajectory control of a moving object, based on the integration of the wave and ant algorithms. The process of tracing the trajectory is carried out step by step. At each step relative to the current position of the moving object, a zone is formed within which all the obstacles are localized with the help of the radar, after which a separate trajectory section is constructed which is a continuation of the previously constructed section. And the entire trajectory is a collection of individual sections. The time complexity of this algorithm depends on the ant colony lifetime l (the number of iterations), the number of vertices of the graph n, and the number of ants m, and is defined as O(l?n~2?m).