%0 Journal Article
%T Improved ant colony algorithm in grid model for mobile robot path planning<br>一种栅格模型下机器人路径规划的改进蚁群算法
%A WANG Pei-dong
%A FENG Zu-hong
%A SUN Zhi-chang
%A <br>王沛栋
%A 冯祖洪
%A 孙志长
%J 计算机应用
%D 2008
%I 
%X An improved ant colony algorithm was provided in this paper for robot path planning in a static environment. In this algorithm the model of robot's workspace was established with grid method and foldback iterating was used to search the aims by simulating the foraging behavior of ant colony. A heuristic factor based on the most pheromone in a moving direction range and a goal guiding function were used during the searching process. Furthermore, according to the features of the pheromone strewing when solving the problem by ant colony algorithm, the strewing method and updating strategy of pheromone were reconstructed. The simulation results show that these improvements make searching of the best path rapid and efficient. With this method a best path can be found rapidly even if the obstacles are exceedingly complicated.
%K ant colony algorithm
%K gird model
%K path planning<br>蚁群算法
%K 栅格模型
%K 路径规划
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=831E194C147C78FAAFCC50BC7ADD1732&aid=610A2458D310E54C461F7200500DB91F&yid=67289AFF6305E306&vid=D3E34374A0D77D7F&iid=708DD6B15D2464E8&sid=8423D3852F5C1E02&eid=E7E093805B56879D&journal_id=1001-9081&journal_name=计算机应用&referenced_num=0&reference_num=9