Dynamic path planning of mobile robot based on ant colony algorithm

The thesis makes vehicle in cross-country environment as research object, and uses improved ant colony algorithm to research and analyse the cross-county path planning. First, improved ant colony algorithm is used to research cross-county path planning of vehicle, then slope table and roughness table are introduced to analyse topographic slope and land surface property's affect on path planning, and path optimisation algorithm is designed considering restriction of slop and roughness. Simulation result shows that this algorithm can realise cross-county path planning with speediness and efficiency. Experimental result demonstrates that the improved ant colony algorithm has stronger feasibility and better searching capability.