期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2016
卷号：9
期号：1
页码：329-338
DOI：10.14257/ijhit.2016.9.1.28
出版社：SERSC
摘要：Aiming at the path planning problem of mobile robot, a chaotic ant colony system was presented. The idea of the algorithm was that first generated chaotic sequences as the initial pheromone matrix and then ant colony traversed grids environment once, pheromone on the path was updated, as the completeness of the pheromone initialization. Pheromone update strategy adopt self-adaptive chaotic disturbance to avoid the search being trapped in local optimum. Grids environment simulated the robot workspace. Through the process of self-organization and chaos, the ant colony found the optimal path in the robot's static environment. Simulation results show that chaotic ant colony system not only enhances the global search capability, but also more effective than the traditional ACS, moreover, it's a novel approach to the robot path planning.
关键词：Mobile robot; Path planning; Ant colony system; Chaos; Grids
