Path Planning for Robots Based on Ant Colony Algorithm under Dynamic Environment

摘要

This paper presents a new approach to robot path planning under dynamic environment.Grid method is used to model the workspace.The whole system includes two parts: the global path planning and the local planning for obstacle avoidance.In the global path planning,an optimal route to the goal is found by ant colony algorithms;in the local planning for obstacle avoidance,while following the global path,several collision —free strategies for different situations are used after the environment detection and collision prediction based on rolling windows in order that the robot reaches the goal safely.The results of the simulation experiment indicate that the proposed method is feasible.