基于蚁群算法的水下机器人避障路径规划
Based on ant colony algorithm of underwater robot obstacle avoidance path planning
本文采取了蚁群算法用来实现水下机器人的避障路径规划，对于路径规划涉及的重要参数进行了对比讨论，并对蚁群算法进行了改进。使其既可以满足收敛速度快，又可以避免陷入局部最优解。同时引入警戒栅格保障其运动过程中安全性，又用贝齐尔曲线规划其路径使机器人运动过程更加流畅，拓展了该算法的应用场景。
In this paper, ant colony algorithm is used to realize the path planning of underwater robot. The important parameters involved in path planning are compared and discussed . And the ant colony algorithm is improved. The algorithm can not only satisfy the fast convergence speed, but also avoid the local optimal solution. At the same time, the security of the grid is introduced to ensure its security movement. The Bezil curve is used to plan the path to make the robot move more smoothly,and the application of the algorithm has been expanded.
罗颀栋、张延恒
自动化技术、自动化技术设备计算技术、计算机技术工程设计、工程测绘
水下机器人避障路径规划蚁群算法
underwater robot，obstacle avoidance，path planning，ant colony algorithm
罗颀栋,张延恒.基于蚁群算法的水下机器人避障路径规划[EB/OL].(2016-11-22)[2025-08-16].http://www.paper.edu.cn/releasepaper/content/201611-285.点此复制
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