【摘要】 为有效提升仓库机器人搬运货物的效率，采用改进的蚁群算法规划仓库机器人搬运货物的路径。首先引入动态信息素更新机制，加入势场启发函数，引入精英蚂蚁，进而将改进蚁群算法与动态窗口避障融合。仿真结果表明：与传统蚁群算法相比，改进蚁群算法规划出的路径长度更短且拐点数量更少；在寻路方面效率更高，并且有着更精准的收敛性与鲁棒性。更多还原

【Abstract】 To effectively enhance the efficiency of warehouse robots in cargo handling, researchers have employed an improved ant colony algorithm to plan the cargo handling paths for warehouse robots. This study innovatively introduces a dynamic pheromone update mechanism, incorporates a potential field heuristic function, and introduces elite ants to enhance search capabilities. Then, the improved ant colony algorithm is integrated with the dynamic window obstacle avoidance. The simulation results show that compared with the traditional ant colony algorithm, the improved ant colony algorithm plans a shorter path with fewer turning points, has higher efficiency in pathfinding, and has more accurate convergence and robustness.更多还原