Mobile robot path planning based on improved ant colony optimization algorithm

Ant two-way parallel searching strategy presented in is adopted to utilize cooperation ability between ants and to accelerate searching speed, but it is clearly seen that this tactic loses some feasible paths and even loses optimal path, so a new ants encountering judgment method is proposed. Then in order to avoid running into local optima a new path selecting strategy and a new global pheromone updating tactic are proposed. Simulation researches indicate improved algorithm has good efficiency and as long as the path objectively exists the algorithm can plan a safe optimal path quickly.