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

来源期刊：中南大学学报(英文版)2006年第1期

论文作者：谭冠政 贺欢 Aaron Sloman

文章页码：80 - 86

Key words：mobile robot; global optimal path planning; improved Dijkstra algorithm; ant system algorithm;MAKLINK graph; free MAKLINK line

Abstract: 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.

基金信息：the National Natural Science Foundation of China