关键词:移动机器人; 路径规划; 蚁群算法; 环境模糊模型; 动态环境
Method of real-time path planning based on ant colony algorithm indynamic environment
ZENG Bi, YANG Yi-min
(Guangdong University of Technology, Guangzhou 510006, China )
Abstract:This paper proposed a new method which implemented real-time path planning of mobile robot in complex dynamic environment. The method first utilized the fuzzy logistic description to establish the fuzzy environment model of robot in local area, and then adopted the improved ant colony system algorithm to quickly search each local optimal path. With the optimal path leading, the robot achieved real-time path planning in complex dynamic environment combine with the method of rolling path planning. The method not only overcame the influences of fuzziness and uncertainty of environmental information which caused by inferior detection of sensors, but also had fully exploited the ant colony algorithm superiority in the community intelligence. The simulation result indicates the validity and the feasibility of this algorithm. ......