主管：中华人民共和国应急管理部
主办：应急管理部天津消防研究所
ISSN 1009-0029  CN 12-1311/TU
消防科学与技术

消防科学与技术 ›› 2023, Vol. 42 ›› Issue (7): 989-994.

• • 上一篇    下一篇

基于改进蚁群算法的森林火灾救援机器人三维路径规划

乔佳1, 史艳霞1, 王浩陈2   

  1. （1. 天津中德应用技术大学 智能制造学院，天津 300350；2. 江苏科技大学 自动化学院，江苏 镇江 212100）
  • 出版日期:2023-07-15 发布日期:2023-07-15
  • 作者简介:乔 佳（1971- ），女，山东昌邑人，天津中德应用技术大学智能制造学院副教授，主要从事电机控制与自动化技术研究工作，天津市海河教育园区雅深路2号，300350。
  • 基金资助:
    基金项目：国家自然科学基金项目（51977101）；天津市科技计划项目（20YDTPJC00940）

Three-dimensional path planning of forest fire rescue robot based on improved ant colony algorithm

Qiao Jia1, Shi Yanxia1, Wang Haochen2   

  1. (1. Intelligent Manufacturing College, Tianjin Sino?German University of Applied Sciences, Tianjin 300350, China;2. Automation College, Jiangsu University of Science and Technology, Jiangsu Zhenjiang 212100, China)
  • Online:2023-07-15 Published:2023-07-15

摘要： 森林火灾中，救援机器人需在三维环境中工作，研究三维路径规划具有重要意义。为了解决基于蚁群算法的三维路径规划中容易陷入局部最优和搜索时间长的普遍问题，提出了一种改进的信息素更新算法和引入安全值的启发式函数。为更好地避开障碍和火势集中区域，选择平面和视野相结合的搜索模式。根据传统蚁群算法和改进蚁群算法的试验结果，后者比前者迭代减少约30次，适应度值减少，提高了系统的运行效率，且后者的路径选择更加合理，证明了改进算法的优越性。

关键词: 救援机器人, 蚁群算法, 启发式函数, 安全值

Abstract: In forest fires, rescue robots need to work in a three?dimensional environment, and studying three?dimensional path planning is of great significance. An improved pheromone updating algorithm and a heuristic function with safety value were proposed to solve the common problem of local optimization and long search time in 3D path planning based on ant colony algorithm. To better avoid obstacles and areas with concentrated fire, choose a search mode that combines plane and field of view. According to the test results of the traditional ant colony algorithm and the improved ant colony algorithm, the latter has about 30 iterations less than the former, and the fitness value has decreased by 2.4×10^3, improving the operating efficiency of the system. And the latter’s path selection is more reasonable, proving the superiority of the improved algorithm.

Key words:  rescue robot, ant colony, heuristic function, safety value