Path Planning for Lunar Surface Robots Based on Improved Ant Colony Algorithm

投稿的翻译标题: 基 于 改 进 蚁 群 算 法 的 月 面 机 器 人 路 径 规 划

Ting Song, Yuqi Sun, Jianping Yuan, Haiyue Yang, Xiande Wu

科研成果: 期刊稿件文章同行评审

2 引用 (Scopus)

摘要

In the real-world situation,the lunar missions’scale and terrain are different according to various operational regions or worksheets,which requests a more flexible and efficient algorithm to generate task paths. A multi-scale ant colony planning method for the lunar robot is designed to meet the requirements of large scale and complex terrain in lunar space. In the algorithm,the actual lunar surface image is meshed into a gird map,the path planning algorithm is modeled on it,and then the actual path is projected to the original lunar surface and mission. The classical ant colony planning algorithm is rewritten utilizing a multi-scale method to address the diverse task problem. Moreover,the path smoothness is also considered to reduce the magnitude of the steering angle. Finally,several typical conditions to verify the efficiency and feasibility of the proposed algorithm are presented.

投稿的翻译标题基 于 改 进 蚁 群 算 法 的 月 面 机 器 人 路 径 规 划
源语言英语
页(从-至)672-683
页数12
期刊Transactions of Nanjing University of Aeronautics and Astronautics
39
6
DOI
出版状态已出版 - 1 12月 2022

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