التفاصيل البيبلوغرافية
| العنوان: |
Research on Global Path Planning of Robot Based on Ant Colony Algorithm and Gaussian Sampling. |
| المؤلفون: |
Zhang, Junhao, Hu, Zhangfang, Wang, Xingyuan |
| المصدر: |
Mathematical Problems in Engineering; 6/22/2023, p1-14, 14p |
| مصطلحات موضوعية: |
ANT algorithms, ROBOTIC path planning, ANTS, POTENTIAL field method (Robotics), MEDIAN (Mathematics), GAUSSIAN distribution, HEURISTIC algorithms |
| مستخلص: |
In response to the issue of the traditional ant colony algorithm (T-ACO) with many iterations and slow convergence speed in robot global path planning, we propose an enhanced ant colony algorithm (S-IACO) that incorporates Gaussian sampling. Firstly, the initial pheromone concentration contained in the raster map is preprocessed. Gaussian distribution sampling is adopted, and the sampling median value is used as the initial pheromone concentration of the raster map. Secondly, the heuristic function of the ant colony algorithm was improved. The number of ant colony iterations and the current path length were dynamically introduced into the heuristic function of the algorithm as influencing factors. Finally, this work redefined the pheromone update rule and introduced the concept of loss function by considering the influence of initialization pheromone on the results. By comparing with other improved ant colony algorithms, as well as PSO and GA algorithms, the S-IACO algorithm proposed has fewer iterations and faster convergence speed. [ABSTRACT FROM AUTHOR] |
|
Copyright of Mathematical Problems in Engineering is the property of Hindawi Limited and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |
Full Text Finder