Map-based Robot Path Planning Algorithm,

The path planning for mobile robots especially in the uncertain environment 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. But this problem is NP-Hard problem, so, to find a better algorithm becomes the hot topic in the researching field of the robotics, therefore, a graph-based ant algorithm is proposed according to the present condition of the studying and the intellective and bionics tendency of the fields development. First, the workplace is modeled by grid method and expressed by a state-matrix, based on which, a connected graph will be obtained. Then, a group of ants traverse on the graph simulating the behavior of foraging and the optimal path will be obtained. At last, using the branching random process and birth-death process to analyze the convergence of the proposed algorithm theoretically, based on it, some computer simulations are taken and the results show that the method of this paper is effective and convergent.