Target Attraction Based Ant Colony for Dynamic Path Planning of Rescue Robot

摘要

The road condition of city is unknown,complex and changing,so in post earthquake robot rescue,how to find the shortest path quickly to save more wounded persons becomes a hot issue.A target attraction based ant colony for dynamic path planning was proposed to find the shortest path in the post earthquake environment to reduce the rescue time.And the global information of city traffic map was adopted to establish target attraction function,which guided the ants for path searching in the complex dynamic environment,to improve the probability of selecting the closer path to the target point,and reduce the probability of selecting the non-shortest path.Comparing with MMAS algorithm through simulation,the proposed TAAC algorithm was verified to have a good dynamic performance and could converge to the shortest path quickly.