arescuerobotpathplanningbasedonantcolony-文庫(kù)吧
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【正文】 去改善它。 7 Ant colony algorithm based path planning (1/4) ?A. Description of path planning: RoboCup Rescue simulation system environment simulates the urban disasters scene in real life, and there are buildings and roads in the map. Suppose G= (V, A, d) is a plete weighted directed graph, where is a vertex set, and each vertex stands for a street node in city map. 救援機(jī)器人模擬系統(tǒng)在現(xiàn)實(shí)生活中的環(huán)境模擬城市災(zāi)害情景， 有建築 物和道路的地圖。假設(shè) G =（ V， A， d） 是一個(gè)完整的加權(quán)有向圖，其 中 是端點(diǎn)集合，每個(gè)頂點(diǎn)代表一個(gè)街道節(jié)點(diǎn)城市地 圖。 ? ?n,...v,v,vvV 210?? ?n,...v,v,vvV 210?8 Ant colony algorithm based path planning (2/4) is the arc set which connect the vertexes, namely, the streets set in the city。 nonnegative weight which related to arc denotes the distance between vertex and vertex . 是被設(shè)置的弧連接端點(diǎn)，也就是在城市設(shè)置的街道；非負(fù)重量 與弧表示端點(diǎn) 和端點(diǎn) 之間的距離。 ? ?jivvA ji ?? :),(? ?jivvA ji ?? :),()( ji,vvijdiv jvijd iv jv9 Ant colony algorithm based path planning (3/4) ? The aim of path planning is to find the shortest path between original node and destination node, at the same time to meet the following conditions: 1. Each node can only be visited once by agent。 2. All agents departure from the starting point, and stopped at the end. 其目的路徑規(guī)劃是找到原節(jié)點(diǎn)和目標(biāo)節(jié)點(diǎn)之間的最短路徑，同時(shí)滿足下列條件： 。 ，並停止在最後。 10 Ant colony algorithm based path planning (4/4) ?B. Ant colony algorithm In the original ant colony algorithm, the initial pheromone for every arc is constant 。 Suppose denotes the probability that ant k transferred from node i to node j at time t, and it is defined as follows: 在最初的蟻群算法，最初的信息素，每弧是一個(gè)常數(shù) 。假設(shè) 表示的概率是 指在 t時(shí)間裡螞蟻 k從位置 i到位置 j的轉(zhuǎn)移概率 ，它的定義如下： 0? )(tpkij0? )(tpkije l s eIftpka l l o w e djisa l l o w e dsisijijkijk???????? ?? ??0.)(????????11 ?A. Objective attraction function To make the ant colony algorithm be efficiently adopted in path planning, in this paper, an objective attraction function is introd
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