Path planning of searching robot based on improved ant colony algorithm

An improved ant colony algorithm for path planning of searching robot is proposed.In this algorithm,agrid environment model is established and a taboo strategy is adopted to avoid path deadlock.Meanwhile,the retracing ants,which adopt different searching strategies between the forward and backward directions,are used to increase the convergent speed of the algorithm.Moreover,an objective function of path evaluation is constructed to improve the ability of path searching.Extensive experiments demonstrate that the proposed algorithm can plan the optimal path even in a complicated environment.