[1]李 鹏,闵小翠,王建华.基于改进蚁群算法的巡检机器人避障路径规划方法设计[J].机械与电子,2022,(02):71-74.
　LI Peng,MIN Xiaocui,WANG Jianhua.Design of Obstacle Avoidance Path Planning Method for Inspection Robot Based on Improved Ant Colony Algorithm[J].Machinery & Electronics,2022,(02):71-74.
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基于改进蚁群算法的巡检机器人避障路径规划方法设计()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年02期
页码:
71-74
栏目:
智能工程
出版日期:
2022-02-22

文章信息/Info

Title:
Design of Obstacle Avoidance Path Planning Method for Inspection Robot Based on Improved Ant Colony Algorithm
文章编号:
1001-2257 ( 2022 ) 02-0071-04
作者:
李 鹏; 闵小翠; 王建华
广州华立科技职业学院,广东 广州 511325
Author(s):
LI Peng ;  MIN Xiaocui ;  WANG Jianhua
( Guangzhou Huali Science and Technology Vocational College , Guangzhou 511325 , China )
关键词:
蚁群算法; 巡检机器人; 避障路径; 人工势场
Keywords:
ant colony algorithm ;  inspection robot ;  obstacle avoidance path ;  artificial potential field
分类号:
TP242
文献标志码:
A
摘要:
针对机器人进行避障路径规划时存在收敛速度差、规划路径长、迭代次数多以及规划时间长的问题,提出基于改进蚁群算法的巡检机器人避障路径规划方法。首先使用栅格法划分巡检机器人工作环境,通过对像素矩阵等指标的分析,构建栅格地图模型;基于人工势场法提出蚁群路径规划算法,使蚁群适应子空间的搜索;最后在模型中利用该算法,寻找该模型的最佳路径。实验结果表明,运用该方法进行路径规划时,收敛速度高、规划路径短、迭代次数少以及规划时间短。
Abstract:
Aiming at the problems of poor convergence speed , long planning path , large number of iterations and long planning time when using current methods for obstacle avoidance path planning of robot , a method designed for obstacle avoidance path planning for inspection robot based on improved ant colony algorithm is proposed.First , a grid method is used to divide the working environment of the inspection robot , and a grid map model is constructed through the analysis of the pixel matrix and other indicators ; an ant colony path planning algorithm based on the artificial potential field method is proposed to adapt the ant colony to the subspace search ; finally , the algorithm is used in the model to find the best path of the model.Experimental results show that this method for path planning has high convergence speed , short planned path , fewer iterations and shorter planning time.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2021-09-08
基金项目:广东省高职院校高水平专业群( GSPZYQ2020082 );广东省大学生科技创新培育专项资金项目( pdjh2020b1410 )
作者简介:李 鹏 ( 1982- ),男,江西赣州人,硕士,副教授,研究方向为计算机应用技术;闵小翠 ( 1984- ),女,湖南益阳人,硕士,副教授,研究方向为计算机应用;王建华 ( 1956- ),女,黑龙江哈尔滨人,硕士,教授,研究方向为人工智能和大数据。
更新日期/Last Update: 2022-03-04