arescuerobotpathplanningbasedonantcolony

arescuerobotpathplanningbasedonantcolony内容摘要：

uced, which uses the attraction of the objective to reduce the bad solutions selected by ants and speed up convergence accordingly. 為了使蟻群算法可以有效地通過路徑規劃，在文章中，介绍一個目標吸引力函數，它使用的吸引力的目標，以減少不良的解決方案選擇了螞蟻和相應加快收斂。 Improved ant colony algorithm (1/9) 12  For arbitrary two nodes which are denoted by and , respectively, let denotes the shortest distance between them by using Dijkstra algorithm. For an objective point vgoal, the attraction of the arc , denoted by , is calculated as follows: 和 表示任意二個結點，使用 代克思托 算法讓 表示了它們之間的最短距離。 為了目標點 vgoal， 弧 的吸引力，記為 ，計算如下： e l s eIfs hor tds hor tdat t r ac tka ll o w e djka l l o w e dsgoalsisgoaljijgoalij 01Improved ant colony algorithm (2/9) ),( ji vvg o a lija ttra c t),( ji vvg o a lija ttra ctgv hvghshor tgv hv ghshort13 Improved ant colony algorithm (3/9)  By adopting the objective attraction function, the transfer probability of the node, which is a path selection function that denoted by , can be updated as follows: 通過採用目標吸引力函數，節點的轉移概率，這是一個路徑選擇函數， 記為 ， 可更新如下： e l s eIfat t r ac tdat t r ac tdtpka ll o w e djka l l o w e dsgoalisisijgoalijijijkij0)1()1()( )(tPkij)(tPkij14 Improved ant colony algorithm (4/9) B. Pheromone update rule After an ant having finished all nodes traversal, if the pheromone on a path that it passed by is simply increased, the excessive amount of pheromone will inundate the heuristic information. So it requires updating the intensity of the pheromone on a path according to a certain rule. In the ant colony algorithm, the pheromone updating rule can be divided into global rule and local rule. In this paper, we adopt the pheromone updating rule by bining the global and local rule. 螞蟻經過的遍歷所有節點，如果費洛蒙只是增加在它通過的道路，而過量的信息素會淹沒啟發信息。 因此它要求更新在一個道路的費洛蒙強度依照特定的規則。 在蟻群算法，費洛蒙更新規則可以劃分成全局規則和局部規則。 在本文，我們採用結合全局和局部規則信息素更新規則。 15 Improved ant colony algorithm (5/9)  (1) The pheromone global updating rule is describ。