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改进蚁群算法的森林防火移动机器人路径规划.
- Source :
-
Forest Engineering . Mar2024, Vol. 40 Issue 2, p152-159. 8p. - Publication Year :
- 2024
-
Abstract
- To solve the problem of optimal path planning for forest fire prevention mobile robots in forest terrain conditions, an improved ant colony algorithm based on extended neighborhood was proposed. Firstly, the plan of directional extended neighborhood was introduced, and the search neighborhood was extended from 8 to 10, which was in an attempt to expand search efficiency and scope. Then, considering multiple factors that affect the mobile robot, path length and energy consumption were used to improve heuristic functions. Next, the initial pheromone was improved by incorporating location information. Finally, the advantages of the Max-Min Ant System (MMAS) and the elite ant model were combined to improve the pheromone updating rule. Results indicated that the proposed improved algorithm compared with traditional ant colony algorithm and the ant colony algorithm based on multiple inspired factor, which can shorten the path length by 7. 66% and 6. 53%, reduce energy consumption by 62. 2% and 49. 3%, decrease the comprehensive index by 32. 6% and 23. 1%. The research demonstrated that the proposed improved ant colony algorithm had stronger global search capabilities and considerable practical value [ABSTRACT FROM AUTHOR]
- Subjects :
- *FOREST fire prevention & control
*ANT algorithms
*MOBILE robots
Subjects
Details
- Language :
- Chinese
- ISSN :
- 10068023
- Volume :
- 40
- Issue :
- 2
- Database :
- Academic Search Index
- Journal :
- Forest Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 175532149
- Full Text :
- https://doi.org/10.3969/j.issn.1006-8023.2024.01.018