Path Planning Of Mobile Robot Based On Improved Ant Colony Algorithm

The path planning for mobile robots plays an important role in the field of robotics. It is arising many scholars' interesting and it's already got a series of achievements in this field. At present, there are many advanced algorithms used to solve this optimal problem. However, for those algorithms, it is very difficult to solve some path planning problems containing certain constraint conditions due to the complex background environment. According to the present condition of the studying and the intellective and bionics tendency of the field's development, this paper presents a new path planning approach based on the improved ant colony algorithm with three new strategies. Firstly, in the process of the algorithm the ants without the next node to choose, employ the retracing strategy to leave the difficult position. So the robust character of the new method is strengthened. Secondly, in the processing when the two ants with the different searching direction meet, it uses the meeting strategy to get the new path by using the records information in the forbidden tables of the two meeting ants. Then the new method could get the enough cooperation character of the ant colony and the speed of getting new path could be improved. Lastly, when getting the fixed number of the paths, it uses path-crossing strategy to improve the converge speed of the new method. The results of the experiments show that the new method of this paper has the characteristics of simple, high efficiency and robust.