基于改进蚁群算法的应急救援路径规划

应急救援路径规划不同于普通的路径规划，其目标为用最短的时间对待救援目标实施救援，因此无须考虑返回时间。同时，不同于以往路径规划单个目标点的情况，待救援目标可以有一个或多个。提出一种基于改进蚁群算法的应急救援路径规划方法，设置夸张系数Qa，并定义“虚拟边”，解决当前点的邻接待访问点中有多个目标点的问题。为提高收敛性，对信息素蒸发系数进行改进。该方法能快速找到一条从待救援点到多个目标点的优化路径，实验结果表明算法的有效性。

On the Improved-Ant-Colony-Algorithm-Based Planning of Emergency Rescue Paths

Being different from the ordinary path planning, the emergency rescue path planning aims at rescuing the targets to be aided within the shortest possible time, without the necessity of considering the returning time. Meanwhile, the target or targets to be aided may either be a single one or multiple ones rather than only a single one involved in the ordinary path planning. Put forward in this paper is an improved ant-colony-algorithm-based method of emergency rescue path planning, in which the exaggeration factor Qa is set up and the virtual boundary is defined to solve the problem of multiple access targets existing around one point. Aiming to improve the convergence, the evaporation coefficient of pheromones is improved. This method can help quickly find an optimized emergency rescue path from one aid target to multiple ones. Experimental results prove the effectiveness of the method.