Novel ant colony optimization algorithm for robot path planning

摘要

A novel ant colony optimization(ACO) algorithm for robot path planning is presented.The method of pheromone restriction and adaptive volatile coefficient is proposed to solve the problem of algorithm stagnation and global searching ability in the process of traditional ACO application.The relation between the algorithm running rate and map modeling method is found in the simulation process of ACO,so the coordinate transformation of grid map modeling is proposed to improve the algorithm running rate.The comparative simulation results are shown the effectiveness and speediness of this algorithm.