Path Planning for Robots Based on Ant Colony Algorithm

摘要

The problems of obstacle avoidance and path planning of mobile robot are discussed.This paper presents a new approach to robot path planning under complex 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 mobile robot can find the goal within the shortest path without the collision.