The research on robot global path planning based on simulated annealing dissipative ant system
Wang Xingce, Zhou Mingquan, Liu Xinyu, Fan Yachun · 2008
Global path planning is one of the key techniques of robots’ intelligent control system, whose purpose is to find a collision-free path from the source position to the destination position according to some optimization criteria. The shaft robot’s global path planning in two-dimensional map is used as the study model to illuminate the path planning method of robot system based on simulated annealing dissipative Ant system. Comparing with the traditional Ant System, the simulated annealing algorithm is used to enhance the global research ability of the method. Only the iterative best path is updated to increase the learning speed of the method. And the additional chaotic negative entropy is added in the system, which can be used to escape from the local minima and get the satisfied result. Finally the simulation results are provided to show the validity of the algorithm.