基于改进蚁群算法的移动机器人路径规划

针对移动机器人规避障碍和寻找最优路径问题，提出一种基于改进的蚁群算法的解决策略，并编制相应程序进行验证。仿真过程分为两个基本阶段：适应阶段和协同工作阶段。在前阶段，各局部解根据规则不断调整自身结构；后阶段各局部解通过信息交流，产生全局最优解。与传统的算法比较，它可以避免陷入过早收敛，能实现移动机器人在较短时间内找到最佳路径并规避障碍。

Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

The problems of obstacle avoidance and path planning of mobile robot are discussed. A possible solution using the improved ant colony algorithm is presented to find a best path without collision from the starting-point to the ending-point.According to the simulation,the test process includes two steps: the meet stage and the cooperation.All local solutions adjust themselves;and then the global solutions is found. The result shows that the mobile robot can find the goal within the shortest path without the collision and the stagnation.