基于蟻群算法的改進A*算法研究

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基于蟻群算法的改進A*算法研究(任務書,開題報告,外文翻譯,文獻檢索摘要,論文25000字)
摘  要
本文在無人駕駛的背景下,基于matlab平臺對A*規劃算法展開了系統而完整的研究,詳細介紹了A*算法的發展由來和進化路線,并對路徑搜索算法也展開了介紹,并指出了A*算法存在的啟發性不足導致路線冗余,魯棒性不強,復雜地圖處理能力弱這三大問題,同時介紹了生物智能算法在路徑搜索問題上的應用,并詳細研究了蟻群與路徑搜尋的關系,最終融合了蟻群算法與A*算法提出了自己的算法流程,并運用自己的改進方法修正了本文所分析出的問題。
研究結果表明本文借助蟻群算法對于路線的局部優化能力較有效的改正了A*算法的路線冗余問題和魯棒性弱的缺點,同時A*算法的全局性強的特性又彌補了蟻群的收斂缺點,兩個算法互相彌補得到了較好的融合。
本文的特色在于創意性的將A*與生物智能算法相融合,同時把改進方向放在了冗余路線優化上,與現有的研究方向相區分又緊密聯系。

關鍵詞:A*算法;蟻群算法;冗余路線優化

Abstract
In the background of unmanned driving, this paper systematically and commylxetely studies the A* mylxanning algorithm based on matlab mylxatform, introduces the development origin and evolutionary luxian of A* algorithm in dqfjzil, and introduces the path search algorithm, and points out The insufficiency of A* algorithm leads to three major problems: luxian redundancy, weak robustness and weak commylxex map processing ability. At the same time, the apmylxication of bio-intelligence algorithm in path search problem is introduced, and ant colony is studied in dqfjzil. The relationship with the path search finally combines the ant colony algorithm and the A* algorithm to propose its own algorithm flow, and uses its own improved method to correct the problems analyzed in this paper.
The research results show that the ant colony algorithm can effectively correct the luxian redundancy problem and the weak robustness of the A* algorithm by means of the local optimization ability of the luxian. At the same time, the global strong feature of the A* algorithm makes up for the ant colony. The shortcomings of convergence, the two algorithms commylxement each other and get a better fusion.
The characteristic of this paper is the creative integration of A* and bio-intelligence algorithms, and the improvement direction is mylxaced on the optimization of redundant luxians, which is closely related to the existing research directions.
 
Key Words:A* algorithm; ant colony algorithm; redundant luxian optimization

目錄
第1章 緒論.....................................................................................................................1
第2章 文獻回顧.............................................................................................................4
第3章 算法改進.............................................................................................................6
  3.1 地圖的柵格化........................................................................................................6
    3.1.1 地圖概況.........................................................................................................6
    3.1.2 地圖表示方法.................................................................................................7
    3.1.3 地圖識別.........................................................................................................8
  3.2 啟發函數改進.......................................................................................................10
    3.1.1 啟發函數介紹................................................................................................10
    3.1.2 傳統改進函數................................................................................................11
    3.1.3 啟發改進函數................................................................................................12
  3.3 路線冗余改進.......................................................................................................15
    3.1.1 蟻群算法介紹................................................................................................15
    3.1.2 蟻群算法融合................................................................................................16
第4章 算法結果與分析................................................................................................22
  4.1 地圖結果...............................................................................................................22
  4.2 A*算法處理結果...................................................................................................23
  4.3 蟻群算法處理結果...............................................................................................24
第5章 算法評價............................................................................................................31
第6章 算法落地平臺及展望.........................................................................................33
參考文獻
致謝

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