Parameters self-adaptive fuzzy ant colony optimization algorithm with searching window for path planning of mobile robot

Abstract

Parameters self-adaptive fuzzy ant colony optimization algorithm with searching window is proposed in this paper.Firstly,this method designs fuzzy controllers to optimize three parameters ofα,β and ρ.It also establishes a dynamic search window for ants,and chaos information is added when near neighbor city table is constituted.In addition,the concept of active degree of city node is presented as future information supervising ants to construct solution and update pheromone. Simulations results show that the proposed algorithm can plan optimal path rapidly even in the intricate environment.