GitHub

1.用蚁群算法解决旅行商问题(寻找n个城市中间的最短遍历路径)

antAlogrithm.py
antAlogrithm_reconstruct.py(重构：包装成类)

运行结果：video\旅行商

continous_alog.py
continous_alog_multithread.py(多线程求解实现)
continous_alogrithm_reconstruct_.py(重构：包装成类)
map_creator.py(生成地图)

运行结果: solutionMap
把图片合成视频: video\旅行商

其中一种算法是初始轨迹用RRT生成,这部分使用了知乎某个作者的源码
https://github.com/chenjm1109/robotics-zhihu/tree/main/src/MotionPlanning/motion_planning

robot_antAlogrithm.py(未完成)
求解效率很低,约等于弱化版的RL算法,所以没继续做

运行结果：video\足式机器人

Name		Name	Last commit message	Last commit date
Latest commit History 26 Commits
.vscode		.vscode
RRT		RRT
__pycache__		__pycache__
video		video
.gitignore		.gitignore
antAlogrithm.py		antAlogrithm.py
antAlogrithm_reconstruct.py		antAlogrithm_reconstruct.py
continous_alog.py		continous_alog.py
continous_alog_multithread.py		continous_alog_multithread.py
continous_alogrithm_reconstruct_.py		continous_alogrithm_reconstruct_.py
map1.png		map1.png
map2.png		map2.png
map3.png		map3.png
map4-50x50.png		map4-50x50.png
map5-50x50.png		map5-50x50.png
map6-50x50.png		map6-50x50.png
map7-50x50.png		map7-50x50.png
map_creator.py		map_creator.py
motion_planning_toolbox.py		motion_planning_toolbox.py
motion_roadmap.py		motion_roadmap.py
readme.md		readme.md
readme1.png		readme1.png
readme2.png		readme2.png
robot_antAlogrithm.py		robot_antAlogrithm.py