A Hybrid Ant Colony Optimization Algorithm for Path Planning of Robot in Dynamic Environment

Ant colony optimization and artificial potential field were used respectively as global path planning and local path planning methods in this paper. Some modifications were made to accommodate ant colony optimization to path planning. Pheromone generated by ant colony optimization was also utilized to prevent artificial potential field from getting local minimum. Simulation results showed that the hybrid algorithm could satisfy the real-time demand. The comparison between ant colony optimization and genetic algorithm was also made in this paper.

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