Mobile Robot Path Planning Based on Improved Ant Colony Optimization Algorithm
Ant two-way parallel searching strategy presented in 1 is adopted to utilize cooperation ability between ants and to accelerate searching speed,but it is clearly seen that this tactic loses some feasible paths and even loses optimal path,so a new ants encountering judgment method is proposed. Then in order to avoid running into local optima a new path selecting strategy and a new global pheromone updating tactic are proposed. Simulation researches indicate improved algorithm has good efficiency and as long as the path objectively exists the algorithm can plan a safe optimal path quickly.
ZHAO Juanping GAO Xianwen FU Xiuhui
College of Information Science and Engineering,Northeastern University,Shenyang 110004,P.R.China Aca College of Information Science and Engineering,Northeastern University,Shenyang 110004,P.R.China Academy of Information engineering,Shenyang University of Chemical Technology,Shenyang 110142,P.R.Ch
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-3
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）