Mobile Robot Path Planning Based on Ant Colony Optimization

摘要

Global path planning is quoted in this paper. The stoical and global environment has been given to us, which is abstracted with grid method before we build the workspace model of the robot. With the adoption of the ant colony algorithm, the robot tries to find a path which is optimal or optimal-approximate path from the starting point to the destination. The robot with the built-in infrared sensors navigates autonomously to avoid collision the optimal path which has been built, and moves to the object. Based on the MATLAB platform, the simulation results indicate that the algorithm is rapid, simple, efficient and high-performance. Majority of traditional algorithms of the path planning have disadvantages, for instance, the method of artificial potential field is falling into the problem of local minimum value easily. ACO avoids these drawbacks, therefore the convergence period can be extended, and optimal path can be planned rapidly.