Abstract
Navigation is a key technology of mobile robot. The information of path planning for navigation is always incomplete in dynamic time-varying environment. In this paper, based on grid environmental model, an improved algorithm of path planning is proposed combining ant colony optimization with rolling window for an unknown complex environment with obstacles. A sub-target point can be searched within a rolling window according to the heuristic information about a target point, the improved algorithm can plan a local optimal path for the mobile robot in a rolling window. Simulations show that the improved method is feasible for path planning in an unknown environment.
Published Version
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