计算机应用 ›› 2013, Vol. 33 ›› Issue (04): 1157-1160.DOI: 10.3724/SP.J.1087.2013.01157

• 典型应用 • 上一篇    下一篇

基于改进蚁群算法的越野路径规划

吴天羿,许继恒,刘建永   

  1. 解放军理工大学 野战工程学院,南京 210007
  • 收稿日期:2012-10-09 修回日期:2012-11-15 出版日期:2013-04-01 发布日期:2013-04-23
  • 通讯作者: 吴天羿
  • 作者简介:吴天羿(1984-),男,江苏南通人,博士研究生,主要研究方向:指挥自动化、运筹分析;许继恒(1976-),男,陕西咸阳人,副教授,博士,主要研究方向:数字化战场;刘建永(1961-),男,江苏泰州人,教授,博士生导师,主要研究方向:指挥自动化、运筹分析。

Cross-country path planning based on improved ant colony algorithm

WU Tianyi,XU Jiheng,LIU Yongjian   

  1. College of Field Engineering, PLA University of Science and Technology, Nanjing Jiangsu 210007, China
  • Received:2012-10-09 Revised:2012-11-15 Online:2013-04-23 Published:2013-04-01
  • Contact: WU Tianyi

摘要: 针对车辆的越野路径规划问题,研究并分析了地形坡度和地表属性对于车辆路径规划的综合影响。引入了“窗口移动法”对地形进行先期的坡度计算和通行性分析,就轮式车辆和履带式车辆分别建立了地表属性的粗糙度评价指标,并采用“面积占优法”将地表属性栅格化。通过建立禁忌表,叠加了坡度与粗糙度的约束影响以减少搜索范围,提高搜索效率。构造了改进蚁群算法的估价函数,并结合路径表设计了考虑坡度和粗糙度约束的路径优化算法。仿真结果表明,该算法能够快速有效地实现符合真实地形环境的越野路径规划。

关键词: 蚁群算法, 越野路径规划, 坡度, 地表属性, 粗糙度, 信息素

Abstract: According to the vehicle's cross-country path planning problem, the general influence of the terrain slope and attribute of the earth's surface on path planning was researched and analyzed. With the introduction of "window moving method" to beforehand judgment and traffic cability analysis about terrain slope, the rating index about landform roughness of wheeled vehicles and crawler vehicles were established and terrain roughness was rasterized with the "area dominant method". Constraint effect of slope and roughness of were stacked in order to reduce the search scope and improve the search efficiency through establishing taboo list. The evaluation function of the improved ant colony algorithm was structured, and with reference to the path table, a path optimization algorithm was designed with the consideration of slope and roughness constraint. The simulation results show that the algorithm can effectively realize cross-country path planning in accordance with real terrain environment.

Key words: Ant Colony Algorithm (ACA), cross-country path planning, slope, attribute of the earth's surface, roughness, pheromone

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