I-DL-ACO：基于S型调度和连续角度惩罚的双层蚁群路径规划

Xianyang Zeng, Chang Liu, Jinwu Tong, Jiekun Ren, Gengkai Liu, Hongli Yang

Robotics and Autonomous Systems · 2026

摘要

该论文提出了一种双层蚁群路径规划算法，通过S型调度策略和连续角度惩罚机制来优化路径。该方法旨在提高移动机器人在复杂环境中的路径规划效率和路径平滑度。

ant colony optimizationpath planningsigmoid schedulingangle punishmentdouble layer

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