【正文】 始化每隻螞蟻的 。 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。 ? ?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。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)。 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 in the environment which has obstacles. Path planning is an important ability of intelligent robots, and has great significance for acplishing the robot’s task. 機(jī)器人路徑規(guī)劃是一個(gè)機(jī)器人的重要組成部分。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。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 introduced, which uses the attraction of the objective to reduce the bad solutions selected by ants and speed up convergence accordingly. 為了使蟻群算法可以有效地通過路徑規(guī)劃，在文章中，介紹一個(gè)目標(biāo)吸引力函數(shù)，它使用的吸引力的目標(biāo)，以減少不良的解決方案選擇了螞蟻和相應(yīng)加快收斂。 Step 1: 初始化相關(guān)參數(shù)，如螞蟻 m, α, β, ρ,等等的數(shù)字。 20 Simulation and Experiment (1/4) ? Based on the above analysis, this paper validates the algorithm through RCRSS (RoboCup Rescue Simulation Server). Fig. 1 is a simulated city map in RCRSS, where, the main task of Fire Brigade agent is moving from current position to refuge to fill with water, then moving to fire point to extinguish fire. 基於上述分析，本文通過 RCRSS確認(rèn)算法 (機(jī)器人世界杯救援模擬服務(wù)器 )