基于混合人工势场-蚁群算法的机器人避障

摘要

According to the mobile robot path planning and avoiding obstacles problems,a kind of method based on hybrid artificial potential field and ant colony algorithm was proposed in this paper. In grid environ-ment,put the planning information of artificial potential field method as the basis of ant colony optimization algorithm and introduce the potential field force as part of the heuristic information for ant searching path point. Matlab7.6 simulation shows that this method has solved the disadvantages in method of artificial poten-tial field such as target inaccessible,falling into extreme value point easily and so on. This method has im-proved the effect on optimization and the convergence rate of the classical ant colony algorithm. It has better stability and environmental adaptability.%针对移动机器人避障的路径规划问题，提出一种基于混合人工势场-蚁群算法的方法。在栅格环境中，以人工势场法的规划信息作为蚁群算法寻优的基础，引入势场合力作为蚂蚁搜索路径点的部分启发信息。Mat-lab7.6仿真表明，该方法解决了人工势场法的目标不可达、易陷入极值点等弊端，提高了经典蚁群算法的寻优效果和收敛速率，具有更强的稳定性和环境适应力。