Ant Algorithm for Path Planning of Mobile Robot in a Complex Environment

The problem of path planning of mobile robot in an environment where the global information is unknown is studied,and a novel ant algorithm based on rolling planning is proposed.First,the object node is mapped to a node nearby the external of eyeshot of the mobile robot,then two groups of ants cooperatively execute a search for the local optimal path for the robot using the nearest-neighbor searching strategy.The ants will execute a local search again once the robot goes forward.So,the path for the robot is altered dynamically, which will make the robot move on a globally optimal path to the ending node.Simulation results indicate that the optimal path which the robot moves on can reach to the end safely and can be rapidly obtained even in complicated geographical environments,the effect being very satisfactory.