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题名: An Improved Ant Colony Optimization Algorithm for Mobile Robot Path Planning
作者: Zhao JP(赵娟平) ; Fu XH(符秀辉) ; Jiang Y(姜莹)
作者部门: 机器人学研究室
会议名称: 2011 3rd International Workshop on Intelligent Systems and Applications (ISA)
会议日期: May 28-29, 2011
会议地点: Wuhan, China
会议主办者: Hubei Univ. Technol.
会议录: 2011 3rd International Workshop on Intelligent Systems and Applications (ISA)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2011
页码: 4 pp.
收录类别: EI
ISBN号: 978-1-4244-9855-0
关键词: ant colony optimization ; path planning ; mobile robot ; two-way parallel searching ; meeting judgment ; pheromone mutual steering
摘要: Ant two-way parallel searching strategy is adopted to accelerate searching speed, but it is clearly seen that this tactic loses some feasible paths and even loses optimal path, so a new ants meeting judgment method is proposed in this paper. At the same time pheromone gain is added to allocate initial pheromone reasonably in order to deal with slow searching speed brought by equivalence distributing of initial pheromone. Pheromone mutual leading method is also designed to accelerate optimizing speed. Above designs can accelerate searching speed but maybe put algorithm running into local optima, so chaos disturbance is introduced to help algorithm jumping out local optima. Finally simulation results indicate that the optimal path on which the robot moves can reach safely and rapidly under 2-D environment.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8572
Appears in Collections:机器人学研究室_会议论文

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