Mobile robots path planning using ant colony optimization and Fuzzy Logic algorithms in unknown dynamic environments

摘要

Researches on mobile robot path planning with meta-heuristic methods to improve classical approaches have grown dramatically in the recent 35 years. Because routing is one of the NP-hard problems, an ant colony algorithm that is a meta-heuristic method has had no table success in this area. In this paper, a new approach for solving mobile robot navigation in dynamic environments, based on the heuristic feature of an optimized ant colony algorithm is proposed. Decision-making influenced by the distances between the origin and destination points and the angle variance to the nearest obstacles. Ideal paths are selected by the fuzzy logic. The proposed ant colony algorithm will optimize the fuzzy rules' parameters that have been using to On-line (instant) path planning in dynamic environments. This paper presents a new method that can plan local routs all over the area and to guide the moving robot toward the final track. Using this algorithm, mobile robots can move along the ideal path to the target based on the optimal fuzzy control systems in different environments, especially in dynamic and unknown environments.