Abstract
This paper deal with the motion of the two-wheeled mobile robot (TWMR) from point to point, moving towards its destination. The motion of the four TWMR is simulated with object oriented simulation by using kinematic model of mobile robot. The TWMR follows the shortest path and reaches its destination with required intermediate points to visit in between. The shortest path taken by the TWMR is analyzed with an obstacle free environment and with static obstacles. Using ant algorithm the robot path planning is tested for two dimensional cases. The Mathematical model for optimization with ant algorithm, TWMR & Path tracking is analyzed by a C++ program.
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