Research on path planning for mobile robot based on ACO

摘要

A planning method based on the expansion path of the ant colony optimization is proposed for path planning of mobile robot in a complicated environment. Introducing to time-varying characteristics of pheromone distribution, pheromone update strategy, inflection path optimization and local optimal path of expansion, and it is designed that inflection parameters and overall evaluation as the path evaluation criteria. The three algorithms were compared with each other by the simulation results and practical tests. The comparisons verified the expansion path of the ant colony optimization which shows better search performance, stronger searching ability and shorter path than the traditional ant colony algorithms and improved algorithms. The algorithm inhibits algorithm into local optimum and achieves search of mobile robot's optimal path. Mobile robot can avoid obstacles to reach the target point safely and quickly.