基于趋化行为的改进蚁群算法及路径规划应用

摘要

In order to solve the individual weakness of ant colony algorithm,an integrated algorithm is proposed based on bacterial chemotaxis.This improvement,combining tendency of bacteria,not only makes up the blindness for foraging itself,also makes the ant individuals possess the ability of obstacle detection warning,so as to improve the efficiency of path planning of the whole ant colony.In addition, by setting the rebellious ants,the diversity of the ant colony routing is guaranteed and the effect of the path planning is improved.The experimental results show that the algorithm can effectively solve the problem of robot path planning in many obstacles environment.%针对蚁群算法个体的薄弱性，提出了一种基于细菌趋化的集成算法。算法中蚂蚁个体借助细菌的趋向性不仅弥补了自身觅食的盲目性，也使蚂蚁个体具备了障碍检测预警能力，从而提高了整个蚁群的路径规划效率。另外，通过设置叛逆蚂蚁，保障了蚁群路径选择的多样性，提高了路径规划效果。实验表明，算法能在多障碍物环境下有效地解决机器人路径规划问题。