基于构型空间法的机器人路径规划研究

提出了一种静态环境下的机器人路径规划仿生算法，该算法用构型空间法对场景进行建模，模拟蚂蚁群体觅食的智能行为，由多只蚂蚁协作完成最优路径的搜索。搜索过程在基于蚁群优化算法的基础上增加了最近邻居策略和目标导引函数，使搜索过程快速高效。并在实验环境中对机器人路径规划进行仿真，结果显示在多障碍物下也能迅速规划出最优路径，表明研究的可行性和有效性。

Study of Robot Path- planning Based on Framework Space Approach

This paper takes a bionics algorithm for robot path-planning in static environment,in which the environmental models are established with framework space approach,the agent behavior of ant colonies is simulated and optimal path search is finished by many ants cooperatively.Based on ant colony optimization,nearest neighbor search and a goal guiding function are added,enabling the searching to be rapid and efficient.It simulates the robots path-planning in experiment,the result shows even if the condition with multi-obstacles the path is fleetly accomplished,and shows the feasibility and validity of the proposed approach.