[1]谢园园,朱庆保.动态环境下基于蚁群算法的机器人路径规划[J].南京师范大学学报(工程技术版),2006,06(03):045-50.
　XIE Yuanyuan~,ZHU Qingbao~.Path Planning for Robots Based on Ant Colony Algorithm under Dynamic Environment[J].Journal of Nanjing Normal University(Engineering and Technology),2006,06(03):045-50.
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动态环境下基于蚁群算法的机器人路径规划
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
06卷
期数:
2006年03期
页码:
045-50
栏目:
出版日期:
2006-09-30

文章信息/Info

Title:
Path Planning for Robots Based on Ant Colony Algorithm under Dynamic Environment
作者:
谢园园1;  朱庆保2
东南大学软件学院
Author(s):
XIE Yuanyuan~1; ZHU Qingbao~2
1.College of Software Engineering,Southeast University,Nanjing 210096,China;2.School of Mathematics and Computer Science,Nanjing Normal University,Nanjing 210097,China
关键词:
机器人路径规划;  动态环境;  全局路径规划;  局部避碰规划;  蚁群算法
Keywords:
robo t path p lann ing;  dynam ic env ironm ent;  g loba l path plann ing;  local planning for obstacle avo idance;  ant co lony a lgor ithm
分类号:
TP242
摘要:
提出了在动态环境中移动机器人的一种路径规划方法,适用于环境中同时存在已知和未知、静止和运动障碍物的复杂情况.采用栅格法建立了机器人工作空间模型,整个系统由全局路径规划和局部避碰规划两部分组成.在全局路径规划中,用改进蚁群算法规划出初步全局优化路径;局部避碰规划主要是在跟踪全局优化路径的过程中,通过基于滚动窗口的环境探测和碰撞预测,对动态障碍物实施有效的局部避碰策略,从而使机器人能够安全顺利地到达目的地.仿真实验的结果表明所述方法具有可行性.
Abstract:
Th is paper presents a new approach to robo t path planning under dynam ic env ironm ent. G rid m ethod is used to m ode l the w orkspace. The who le system includes tw o parts: the g lobal path plann ing and the loca l p lann ing for obstacle avo idance. In the g loba l path plann ing, an optim a l route to the goa l is found by ant co lony algor ithm s; in the loca l p lann ing for obstacle avo idance, wh ile fo llow ing the globa l path, several collision- free stra teg ies fo r different situations are used after the env ironment detection and collision pred iction based on rolling w indow s in o rder that the robo t reaches the goa l safe ly. The resu lts o f the sim ulation exper im ent ind icate tha t the proposed m ethod is feas-i b le.

参考文献/References:

[ 1] 张捍东, 郑睿, 岑豫皖. 移动机器人路径规划技术的现状与展望[ J] . 系统仿真学报, 2005, 17( 2): 439-443.
ZHANG H andong, ZHENG Ru,i CEN Yuw an. Present situa tion and future deve lopm ent ofm obile robo t path p lann ing techno-l ogy[ J]. Acta S imu lata System atica S in ica, 2005, 17( 2): 439- 443. ( in Chinese)
[ 2]李磊, 叶涛, 谭民, 等. 移动机器人技术研究现状与未来[ J]. 机器人, 2002, 24( 5): 475-480.
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[ 3] 张纪会, 徐心和. 一种新的进化算法——蚁群算法[ J]. 系统工程理论与实践, 1999( 3) : 84-87.
ZHANG Jihu,i XU X inhe. A new evo lutionary algor ithm——ant co lony algor ithm [ J] . Sy stem s Eng inee ring-Theory and Practice, 1999( 3): 84-87. ( in Chinese)
[ 4] 席裕庚, 张纯刚. 一类动态不确定环境下机器人的滚动路径规划[ J]. 自动化学报, 2002, 28( 2): 161-175.
X IYug eng, ZHANG Chung ang. Ro lling path planning o fm obile robo t in a kind of dynam ic uncerta in env ironm ent[ J]. Acta Automa tica Sin ica, 2002, 28( 2) : 161-175. ( in Ch inese)

备注/Memo

备注/Memo:
作者简介: 谢园园( 1982-) , 女, 硕士研究生, 主要从事智能控制等方面的学习和研究. E-m ail:m elody-x ie@ 163. com
通讯联系人: 朱庆保( 1955-) , 教授, 主要从事人工智能与智能控制等方面的教学与研究. E-m ail:zhu qingbao@ n jnu. edu. cn
更新日期/Last Update: 2013-04-29