QuantumAntColonyOptimizationAlgorithmforReal-time#br#
PathPlanningofMobileRobotinUnknownEnvironment

doi:10.3969/j.issn.1006-2475.2018.07.010

Abstract

Abstract: Thispaperproposesaquantumantcolonyoptimization(QACO)algorithmforsolvingthereal-timepathplanningofmobilerobotsinunknownenvironments.Intheproposedalgorithm,eachantcarriesasetofquantumbitstoincreasethealgorithmsearchspace,andquantumrotationoperationisusedtoincreasethediversityofpopulationlocationstoavoidprematureconvergence,whichisconducivetothealgorithmjumpingoutofthelocaloptimum.Thispaperestablishesalaserdetectionmodelbasedonthegridenvironmentmodel.Whenthelaserdetectionmodeldetectsathreateningobstacle,theproposedmethodiscalledtore-planningthepathuntiltherobotavoidstheobstacle.Finally,simulationexperimentsdemonstratetheeffectiveness,rapidity,andstabilityoftheproposedalgorithm.

Key words: quantumantcolonyoptimization, pathplanning, mobilerobot, laserdetection

CLC Number:

TP242

ZHANGGao-lin1,ZHANGJi-yu2,ZHOUMeng3. QuantumAntColonyOptimizationAlgorithmforReal-time#br# PathPlanningofMobileRobotinUnknownEnvironment[J]. Computer and Modernization, doi: 10.3969/j.issn.1006-2475.2018.07.010.

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