Obstacle Avoidance Path Planning for Mobile Robot Based on Multi Colony Ant Algorithm

The task of planning trajectories for a mobile robot has received considerable attention in the research literature. The problem involves computing a collision-free path between a start point and a target point in environment of known obstacles. In this paper, we study an obstacle avoidance path planning problem using multi ant colony system, in which several colonies of ants cooperate in finding good solution by exchanging good information. In the simulation, we experimentally investigate the behaviour of multi colony ant algorithm with different kinds of information among the colonies. At last we will compare the behaviour of different number of colonies with a multi start single colony ant algorithm to show the good improvement.