Global path planning of Multi-robot Fish based on adaptive ant colony algorithmin dynamic environment

被引：0

作者：

Wen, Cai ^{[1
]}

Deng, Yansong ^{[1
]}

机构：

[1] Southwest Univ Nationalities China, Inst Elect & Informat Engn, Chengdu 610041, Sichuan, Peoples R China

来源：

PROCEEDINGS OF THE 2016 4TH INTERNATIONAL CONFERENCE ON RENEWABLE ENERGY AND ENVIRONMENTAL TECHNOLOGY (ICREET 2016) | 2017年 / 112卷

关键词：

adaptiveant colony algorithm; path planning; multi-robot fish;

D O I：

暂无

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

Based on adaptive ant colony algorithm, this paper provides a global path planning for multi-robot fishin dynamic environment, so as to achieve better coordination between the robot fish by means of improving their path planning. The adaptive ant colony algorithmin combination with dynamic self-adapting adjust pheromone, can avoid local minimum and have good global search ability. It can effectively expand the search space and quickly findan optimal path to reach the destination. In the unknown obstacle environment which is rasterized, target nodes are generated via obstacle avoidance constraint and adjacent grid transition probabilityto complete the selection of each path. By many experiments in matlab, the results show that the method can let multi-robot fish avoid obstacles to reach the destination effectively in dynamic obstacle environment.

引用

页码：74 / 78

页数：5