Optimal Path Planning for Mobile Robot Based on Grid Map with Ant Colony Algorithm

Abstract

Regarding the Grid Map built by Grid Method as the mobile robot path planning work environment,the Ant Colony Algorithm was used as the rule of path-searching for mobile robot.All robots,starting from the initial position,go through NC times collision free iteration motion to obtain the optimal solution,and arrive at the target position at last.In order to prevent the robot from running into the trouble of local optimum in path searching course while not reaching the maximum iteration times but the path not changing,the counterplan with increasing or cutting the pheromone trails of each path was put forward to make the robots jump out of the current value and continue their searching for survivors until the end of the iteration process.Thus,the optimal path for mobile robot based on Grid Map with Ant Colony Algorithm is planned and then obtained.