Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis

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Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis

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[1]LIU Guangrui,LIU Jun,KONG Lingyun.Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis[J].Journal of Zhengzhou University (Engineering Science),2012,33(02):24-27.[doi:10.3969/j.issn.1671-6833.2012.02.006]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 33卷 Number of periods: 2012 02 Page number: 24-27 Column: Public date: 2012-03-10

Title:: Ant Colony Algorithm of Path Planning for Robot and Its Convergence Analysis

Author(s):: LIU Guangrui; LIU Jun; KONG Lingyun; 1. School of Mechaniea! Engineering, 2hengzhou University, 2hengzhou 450001, China; 2. School of industry, Huanghe institute of Science and Technology,Zhengzhou 450005 ,China

Keywords:: mobile robot; path planning; ant colony algorithm ; convergence

CLC:: TP24

DOI:: 10.3969/j.issn.1671-6833.2012.02.006

Abstract:: Abstract: Path planning of mobile robot is a hunting for optimal or suboptimalcollisionless path from startingpoint to destination point according to one type of performance index, The ant colony algorithm is applied tothe path planning of mobile robot, the principle of ant colony algorithm of path planning for mobile robot is represented in the first place, then it is pointed out that the interaction course of ant colony algorithm is theMarkov process, the convergence of ant colony algorithm is analyzed, and the improvement method of conver.gence for ant colony algorithm is put forward. The simulation results show that: the algorithm in a short periodof time to plan a better path ,and effectiveness and feasibility of the algorithm is certified by simulation analysis.

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