改进蚁群算法在全局路径规划中的应用

摘要

本文利用一种改进的蚁群算法来解决全局路径规划问题。采用栅格法对移动机器人的工作环境进行建模，通过改进蚁群算法完成全局路径规划的目的。这种改进蚁群算法主要是对蚁群算法中的参数进行改进。其针对信息强度因子和信息素挥发因子的不同作用进行相应的函数设计，来达到全局路径规划的目的。通过实验与基本蚁群算法的算法性能比较，得出该改进策略的优越性。%An improved ant colony algorithm is used to solve the problem of global path planning, and mod- eling the environment with grid method. The key in the proved ant colony is the design of parameters which play different roles in the ant colony algorithm, such as the pheromone evaporation factor and the pheromone intensity factor. The experimental results confirm that the proposed algorithm is better than basic ant colony algorithm.