Dynamic Path Planning for Mobile Robot Based on Improved Ant Colony Optimization Algorithm

摘要

The dynamic path planning for mobile robot based on improved ant colony optimization algorithm is presented.Firstly,to increase the convergence speed,the heuristic function modified adaptively according to the target point is proposed.To avoid the local optimum,the rule updating the pheromone based on the assignment rule of wolf colony is proposed.Secondly,to optimize the performance of the improved ant colony,the important parameters of the improved ant colony optimization algorithm are optimized by the particle swarm optimization.Finally,the dynamic path planning for mobile robot based on improved ant colony optimization algorithm is implemented and the simulation experiments are finished.From the results,it can see that the dynamic path planning method is viable and efficient.