摘要
针对蚁群算法收敛速度慢、易陷入局部最优的缺陷,提出一种基于先锋蚂蚁的改进蚁群算法(V-IACO).该改进算法从先锋蚂蚁和死锁规避两个方面对标准蚁群算法进行优化.先锋蚂蚁可以有效提高算法前期收敛速度.新的死锁规避策略先标记出第一类死锁障碍点,并让陷入死锁的蚂蚁直接死亡.这样能有效解决蚂蚁避障问题,并保证可行解的多样性.将改进蚁群算法应用于移动机器人路径规划,数值比较实验证明了该改进算法的有效性.
An improved ant colony algorithm based on vanguard ants(V-IACO)was proposed to solve the drawbacks of slow convergence and local optimum tendencies.The improved algorithm optimized the standard ant colony algorithm from two aspects:vanguard ants and deadlock avoidance.Vanguard ants can effectively enhance convergence speed of the algorithm in initial stage.In the new deadlock avoidance strategy,the first class deadlock avoidance nodes were marked at the beginning and then made the ants trapped die directly.This can effectively solve the problem of ant obstacle avoidance and ensure the diversity of feasible solutions.The improved ant colony algorithm was then applied to the path planning of mobile robot,and the comparative numerical experiment proved the effectiveness of the improved algorithm.
作者
蒲兴成
杨怡婷
王茄伽
郭光亮
PU Xingcheng;YANG Yiting;WANG Jiajia;GUO Guangliang(School of Advanced Manufacturing Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China;School of Science,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)
出处
《徐州工程学院学报（自然科学版）》
CAS
2023年第1期6-14,共9页
Journal of Xuzhou Institute of Technology(Natural Sciences Edition)
基金
国家自然科学基金项目(61876200)
重庆市和重庆邮电大学大学生创新创业训练计划
重庆邮电大学教改项目(XJG1635)。
关键词
蚁群算法
先锋蚂蚁
死锁规避
路径规划
improved ant colony algorithm
vanguard ants
deadlock avoidance
path planning
