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Mobile Agent path planning method based on improved ant colony algorithm under unknown environment

A technology for path planning and environment, applied in the computer field, which can solve problems such as long search time for obstacles, early delay, etc.

Active Publication Date: 2012-11-14
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that when using the ant colony algorithm to plan the path of the mobile agent in the prior art, when the search time is long and the obstacles are large and large, the problem of "early lag" is prone to occur. The present invention proposes a A mobile agent path planning method in an unknown environment, wherein each mobile agent is set to be equivalent to an ant

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  • Mobile Agent path planning method based on improved ant colony algorithm under unknown environment
  • Mobile Agent path planning method based on improved ant colony algorithm under unknown environment
  • Mobile Agent path planning method based on improved ant colony algorithm under unknown environment

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Embodiment Construction

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] The flow chart of the present invention is as figure 1 As shown, the specific process is as follows:

[0019] The invention plans the path of the mobile agent in the unknown environment, aiming at enabling the mobile agent to use the algorithm to find the shortest path in the unknown environment as soon as possible. The specific process of the mobile agent path planning method based on the improved ant colony algorithm in the unknown environment is as follows:

[0020] (1) Abstract the actual operating environment into a plane map, and establish a grid environment according to the position and size of obstacles. Let the mobile agent workspace be a two-dimensional structured space, denoted as , where the position and size of the obstacle are known. Use grid pairs of the same size To divide, the size of the grid is limited to the free movement of the mobile...

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Abstract

The invention discloses a mobile Agent path planning method under an unknown environment. Aiming at the problems of long search time and high probability of causing early delay in case of more and larger barriers at the time of performing mobile Agent path planning by using an ant colony algorithm in the prior art, the invention provides the mobile Agent path planning method under the unknown environment. A mobile Agent can be more effectively kept away from the barriers by modeling the environment through a grid method, establishing a 01 matrix for representing a global grid map, performing path planning according to the global grid map and enhancing the purposefulness of path selection through a path selection strategy of the anti colony algorithm. The method has the advantages of short search time and small space complexity.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method for planning a path of a mobile Agent (intelligent body) in an unknown environment. This method has the advantages of shorter search time and less space complexity. Background technique [0002] Mobile Agent is an important field in intelligent control technology, and has been widely used in military, industrial, agricultural and educational fields. Path planning is an important part of the mobile agent system, which directly affects the quality of the agent's task completion. There are many methods of path planning, such as steepest descent method, partial greedy algorithm, Dijkstra algorithm, Floyed algorithm, SPFA algorithm (Bellman_Ford's improved algorithm), genetic algorithm, artificial neural network, etc. The disadvantage of using the steepest descent method is that the convergence is slow, the efficiency is not high, and sometimes the optimal solution cannot...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G06N3/00
Inventor 唐贤伦陈光丹庄陵蒋畅江周维张衡唐海刘想德
Owner CHONGQING UNIV OF POSTS & TELECOMM
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