arescuerobotpathplanningbasedonantcolony-全文預(yù)覽
【正文】 e performance of this algorithm is proved in terms of validity and practicability. 本文，利用蟻群算法全局路徑規(guī)劃，採用目標(biāo)函數(shù)的吸引力引導(dǎo)螞蟻的搜索，在複雜和動(dòng)態(tài)的環(huán)境提高了蟻群算法的搜索品質(zhì)。圖一是一個(gè)模擬城市地圖 RCRSS，其消防隊(duì)代理人主要任務(wù)是移動(dòng)從當(dāng)前位置到避難所去補(bǔ)水，然後移動(dòng)到火點(diǎn)滅火。 tabu19 Improved ant colony algorithm (9/9) Step 5: If there is residual search time, go to step 2。 Step 2: 把所有螞蟻放在起點(diǎn)上，並且初始化每隻螞蟻的 。在本文，我們採用結(jié)合全局和局部規(guī)則信息素更新規(guī)則。 Improved ant colony algorithm (1/9) 12 ? For arbitrary two nodes which are denoted by and , respectively, let denotes the shortest distance between them by using Dijkstra algorithm. For an objective point vgoal, the attraction of the arc , denoted by , is calculated as follows: 和 表示任意二個(gè)結(jié)點(diǎn)，使用 代克思托 算法讓 表示了它們之間的最短距離。 ，並停止在最後。 ? ?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。因此，在新的搜索模式將側(cè)重於品質(zhì)的搜索空間。其主要任務(wù)是找到一個(gè)沒有障礙的最短路徑或在有障礙的環(huán)境以最低代價(jià)從原來的指定節(jié)點(diǎn)到目標(biāo)節(jié)點(diǎn)。 A Rescue Robot Path Planning Based on Ant Colony Optimization Algorithm School of Information Science and Engineering Central South University Changsha, Hunan 410083, China Professor： 邱俊賢 教授 Student： 黃俞融 2 Outlines Abstract 1 Introduction 2 Ant colony algorithm based path planning 3 Improved ant colony algorithm 4 Simulation and Experiment 5 Conclusion 6 3 Abstract ? This paper addressed a robot path planning algorithm based on improved ant colony optimization. A target attracting function is introduced to guide the searching process which can improve the search quality of ant colony algorithm in the plex and dynamic environment. The affectivity of proposed algorithm is verified in a standard test bed, RoboCup Rescue simulation system. ? 本文討論了機(jī)器人路徑規(guī)劃基於在改進(jìn)蟻群最佳化。 4 Introduction (1/3) ? Robot path planning is an important part of the robotics. Its main task is to find a shortest path without barrier or with a minimum price from the designated original node to destination node i
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