Planetary Rover Path-planning Based on Ant Colony Optimization Algorithm
Hutao Cui · Kongzhi yu juece · 2006
In order to navigate through unstructured planetary environment autonomously,a path-planning algorithm based on ant colony optimization(ACO),goal-oriented behavior,inertial behavior and obstacle-following behavior are added to ant individual of ACO.By executing behavior weighted fusion,ACO planning algorithm is improved and used to resolve planning problem of planetary rover.Furthermore,a tight-line algorithm is presented,to give a shortest path from start point to the exploration site by processing the path-planning result of ACO.The simulation result shows of the path planning algorithm.