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凹形障碍全局路径规划的双蚁群完全交叉算法

, PP. 149-153

Keywords: 全局路径规划,双蚁群算法,凹形障碍,启发因子

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Abstract:

为解决大量复杂凹形障碍环境中的路径规划问题,采用了计算机仿真技术,对双蚁群完全交叉算法进行了研究。通过对传统蚁群算法增加新型的距离改变启发因子,建立双蚁群完全交叉算法,并且融入最大最小蚁群算法思想,使蚁群算法应用在机器人路径规划领域,即使机器人环境中有大量复杂的凹形障碍,该算法仍能够规划出高质量的路径。仿真试验表明该算法得到最优路径率达到

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