Robot Obstacle Avoidance based on an Improved Ant Colony Algorithm

摘要

Obstacle avoidance for mobile robot is a nondeterministic polynomial hard (NP-hard) problem. Ant algorithm is the bionic algorithm which simulated ants foraging behavior, which can effectively solve the problems of this kind. In this paper, we propose an improved ant colony algorithm for robot obstacle avoidance, in which heuristic information is adjusted at run-time during the searching process. The proposed algorithm can effectively alleviate the local optimum problem, global optimal path can be robustly found in our experiments.