Mobile robot path planning based on improved ant colony optimization algorithm

摘要

Ant two-way parallel searching strategy presented in [1] is adopted to utilize cooperation ability between ants and to accelerate searching speed, but it is clearly seen that this tactic loses some feasible paths and even loses optimal path, so a new ants encountering judgment method is proposed. Then in order to avoid running into local optima a new path selecting strategy and a new global pheromone updating tactic are proposed. Simulation researches indicate improved algorithm has good efficiency and as long as the path objectively exists the algorithm can plan a safe optimal path quickly.