Multi objective mobile robot path planning based on hybrid algorithm

摘要

Mobile robot path planning algorithm based on Ant Colony Optimization and Genetic algorithm is proposed. The algorithm aims to achieve different kinds of optimization objects for planned paths: length, smoothness and security. Evolutionary process of Ant Colony Optimization algorithm adapts genetic operations to enhance ant movement towards solution state. The experimental result derives the optimal final solution, by accumulating the most effective sub-solutions. The Simulation result is shown that the robot can plan a set of optimized path. The optimized path avoids collision from source to destination point in the area with many obstacles.