In multi-target search,it is easy for swarm robots to repeatedly search each other in the target search process,mainly because the Ant colony optimization algorithms relies on repeated operations in the pheromone update process,a multi-objective search method for swarm robots based on improved ant colony algorithm is proposed.For the pheromone concentration update rule in Ant colony optimization algorithms,the maximum and minimum cross principle is adopted to improve,and the pheromone up-date method based on path selection probability and path length is obtained.Combined with rasterisation processing,target fruits calculation,dynamic adjustment of search step size,state transition probability and final unit selection of roulette wheel gam-bling,the swarm robot can search multiple targets.Testing was conducted in both static and dynamic environments,through the distance between each robot,the distance between the robot and the obstacle,and the arrival situation between the robot and the target,it was found that the proposed method accurately avoided the obstacle at an ideal distance and successfully searched for all targets,the application effect of the method is good.
关键词
改进蚁群算法/信息素更新/群体机器人/轮盘赌策略/多目标搜索
Key words
Improving Ant Colony Algorithm/Pheromone Updating/Group Robots/Roulette Strategy/Multi Objective Search
维普
万方数据