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Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm

机译:基于改进的Dijkstra算法和蚂蚁系统算法的移动机器人全局最优路径规划

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摘要

A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAK-LINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.
机译:提出了一种基于改进的Dijkstra算法和蚂蚁系统算法的移动机器人全局最优路径规划方法。该方法包括三个步骤:第一步是采用MAK-LINK图论建立移动机器人的自由空间模型,第二步是采用改进的Dijkstra算法找出次优无冲突路径;第三步是使用蚂蚁系统算法来调整和优化次优路径的位置,从而为移动机器人生成全局最优路径。进行了计算机仿真实验,结果表明该方法是正确有效的。结果比较表明,该方法在全局最优路径规划中优于混合遗传算法。

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