Global optimal path planning for mobile robot based onimproved Dijkstra algorithm and ant system algorithm

查看全文 作　　者：[1]谭冠政;[2]贺欢;Aaron [3]Sloman

机构地区：[1]School of Information Science and Engineering, Central South University, Changsha 410083, China, School of Computer Science, The University of Birmingham, Birmingham B15 2TT, UK;[2]School of Information Science and Engineering, Central South University, Changsha 410083, China;[3]School of Computer Science, The University of Birmingham, Birmingham B15 2TT, UK

出　　处：《Journal of Central South University of Technology》索引2006年第13卷第1期,共7页

基　　金：Project(50275150)supportedbytheNationalNaturalScienceFoundationofChina;project(20040533035)supportedbytheNationalResearchFoundationfortheDoctoralProgramofHigherEducationofChina 摘　　要：A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning. 关键词：移动机器人路径规划遗传算法优化

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Global optimal path planning for mobile robot based onimproved Dijkstra algorithm and ant system algorithm

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