Ant algorithm with elitist strategy and vision detection for mobile robot path planning

Elitist ants were added to the algorithm, which not only developed the ant search scope, but also strengthened the ability of the ants to pass long space and the complex space. Vision detecting expanded ant's vision field and enhanced the ant to have "the far-sighted insight" in the exploration process.At the same time it reduced the ant exploration steps, which greatly improved the algorithm efficiency. The routing optimization function made the ant movement path to pull straight, shorten, which made the availability of route choosing enhanced. The grid division was used to sign the environment, and the grid side expressed the element information and the distance information, thus reducing the computation quantity of the algorithm.