Ant Colony System Algorithm for Real-Time Globally Optimal Path Planning of Mobile Robots

@article{Tan2007AntCS,
  title={Ant Colony System Algorithm for Real-Time Globally Optimal Path Planning of Mobile Robots},
  author={Guan-zheng Tan and Huan He and Aaron Sloman},
  journal={Acta Automatica Sinica},
  year={2007},
  volume={33},
  pages={279-285}
}
Abstract A novel method for the real-time globally optimal path planning of mobile robots is proposed based on the ant colony system (ACS) algorithm. This method includes three steps: the first step is utilizing the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is utilizing the Dijkstra algorithm to find a sub-optimal collision-free path, and the third step is utilizing the ACS algorithm to optimize the location of the sub-optimal path so as to… 

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