| 基于改进蚁群算法的月面机器人的路径规划及虚拟仿真 |
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| 作者姓名： | 刘畅 王逸璇 王婧馨 张富照 张雪芹 曹涛 |
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| 作者单位： | 华东理工大学 信息科学与工程学院;华东理工大学 机械与动力工程学院;上海空间智能控制技术重点实验室
上海航天控制技术研究所 |
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| 基金项目： | 上海航天科技创新基金（SAST2018-086） |
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| 摘 要： | 针对月面机器人在复杂地形下的路径规划问题，提出了一种改进的蚁群算法。算法构建了栅格化地形图，基于人工势场法改进了蚁群算法的启发函数，加快了算法收敛速度；引入空间信息素划分方法，提高了蚁群在最短路径附近区域的搜索能力；实验证明，改进后的蚁群算法，路径规划成功率显著提高，收敛速度加快。在算法规划出月面机器人的最短路径后，采用虚拟仿真技术，基于unity3D构建虚拟月面环境和月球车，直观地展示了月面机器人在月面环境下的路径规划效果。
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| 关 键 词： | 月面机器人 路径规划 蚁群算法 人工势场 unity3D |
Path Planning and Virtual Simulation of Lunar Robot Based on Improved Ant Colony Algorithm |
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| Authors: | LIU Chang WANG Yixuan WANG Jingxin ZHANG Fuzhao ZHANG Xueqin CAO Tao |
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| Institution: | School of Information Science and Engineering, East China University of Science and Technology;School of Mechanical and Power Engineering, East China University of Science and Technology; Shanghai Key Laboratory of Aerospace Intelligent Control Technology
Shanghai Aerospace Control Technology Institute |
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| Abstract: | An improved ant colony algorithm is proposed to solve the path planning problem of lunar robot in complex terrain. The algorithm constructs a rasterizing topographic map, and based on the artificial potential field, the heuristic function of ant colony algorithm is improved to accelerate the convergence speed of the algorithm. Also, the spatial pheromone partition method is introduced to improve the search ability of ant colony in the area near the shortest path. Experimental results show that the improved ant colony algorithm can significantly improve the success rate of path planning and accelerate the convergence speed. After the algorithm plans the shortest path of the lunar robot, the virtual lunar environment and lunar rover are constructed based on unity3d by using the virtual simulation technology. The path planning effect of the lunar robot in the lunar environment is intuitively displayed. |
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| Keywords: | lunar robot path planning ant colony algorithm artificial potential field unity3D |
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