中文摘要：

为了提高移动机器人点对点路径规划的性能，提出了均匀粒子群蚁群融合算法。首先分析了粒子群算法原理，找出了导致算法“早熟”的搜索机制缺陷，提出了均匀粒子群算法，此算法改进了粒子群算法的搜索机制，保证了在迭代过程中的粒子多样性，克服了算法“早熟”问题；介绍了蚂蚁系统和蚁群系统算法的区别，提出了均匀粒子群蚁群融合算法，首先使用均匀粒子群算法搜索次优路径，在此路径上撤播信息素，然后使用蚁群算法寻找最优路径。实验结果表明，融合算法规划出的路径最短，而且迭代效率高、容错能力强。

英文摘要：

To improve point to point path planning performance of mobile robot, uniform PSO and Ant Colony fusion algorithm is proposed. Principle of PSO is analyzed, and search mechanism shortcoming which causes algorithm premature is founded, based on which uniform PSO is proposed, this algorithm improve search mechanism of PSO, and diversity of particles in interactive procedure is ensured, so that algorithm premature is overcomed. Difference of ant system and ant colony system is introduced, and uniform PSO and Ant Colony fusion algorithm is put forword, uniform PSO is used to find suboptimal path, and sow pheromone in the path, then Ant Colony algorithm is used to find optimal path. The experiment shows that fusion algorithm possesses the shortest path, the highest interactive efficiency and the best fanlt tolerance.