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Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot


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Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot
ZHAO Juan-ping12 GAO Xian-wen1FU Xiu-hui23
1. School of Information Science and Technology,Northeastern University,Shenyang 110819,China; 2. School of Information Engineering,Shenyang University of Chemical Technology,Shenyang110142,China; 3. Shenyang Institute of Automation,Chinese Academy of Sci
ant colony optimization path planningmobile robots grids methods two-way parallel searching
In view of that the ant colony optimization algorithm with a two-way parallel searching tactic has the defects of losing some feasible paths and even optimal paths, the environment models of a mobile robot are established by grids method and a new ants meeting judgment is used to solve the path planning problem of a mobile robot. The new judgment can judge if ants meet according to the kind of pheromones. A new path selecting method and a new global pheromone updating technique are proposed to avoid running into local optima. Simulation results of two-dimension environment indicate that improved algorithm can plan a safe optimal path quickly for the existing paths.


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Last Update: 2012-10-24