Mobile Robot Path Planning Based on Improved Ant Colony Algorithm

2021 ◽  
Author(s):  
Qinggang Su ◽  
Wangwang Yu ◽  
Jun Liu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Robot Path Planning ◽  
Improved Ant Colony Algorithm ◽  
Robot Path

The Application of an Improved Ant Colony Algorithm in Mobile Robot Path Planning

2011 ◽  
Vol 467-469 ◽  
pp. 222-225 ◽  
Author(s):  
Xiao Guang Zhu ◽  
Qing Yao Han ◽  
Zhang Qi Wang
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Ant Colony Algorithm ◽  
Special Functions ◽  
Grid Method ◽  
Ant Colony ◽  
Robot Path Planning ◽  
Improve Performance ◽  
Improved Ant Colony Algorithm ◽  
Robot Path

This paper presents an improved ant colony algorithm to plan an optimal collision-free path for mobile robot in complicated static environment. Based on the work space model with grid method, simulated foraging behavior of ants and to serve the mobile robot path planning, update the conventional ant colony algorithm with some special functions. To avoid mobile robot path deadlock, a dead-corner table is established and the penalty function is used to update the trail intensity when an ant explores a dead—corner in the path searching. The simulation results show that the algorithm can improve performance of path planning obviously, and the algorithm is simple and effective.

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