Journal of Central South University of Technology

, Volume 13, Issue 6, pp 707–712 | Cite as

Global path planning approach based on ant colony optimization algorithm

  • Wen Zhi-qiang  (文志强)Email author
  • Cai Zi-xing  (蔡自兴)


Ant colony optimization (ACO) algorithm was modified to optimize the global path. In order to simulate the real ant colonies, according to the foraging behavior of ant colonies and the characteristic of food, conceptions of neighboring area and smell area were presented. The former can ensure the diversity of paths and the latter ensures that each ant can reach the goal. Then the whole path was divided into three parts and ACO was used to search the second part path. When the three parts pathes were adjusted, the final path was found. The valid path and invalid path were defined to ensure the path valid. Finally, the strategies of the pheromone search were applied to search the optimum path. However, when only the pheromone was used to search the optimum path, ACO converges easily. In order to avoid this premature convergence, combining pheromone search and random search, a hybrid ant colony algorithm(HACO) was used to find the optimum path. The comparison between ACO and HACO shows that HACO can be used to find the shortest path.

Key words

mobile robot ant colony optimization global path planning pheromone 

CLC number



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Copyright information

© Published by: Central South University Press, Sole distributor outside Mainland China: Springer 2006

Authors and Affiliations

  • Wen Zhi-qiang  (文志强)
    • 1
    • 2
    Email author
  • Cai Zi-xing  (蔡自兴)
    • 1
  1. 1.School of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.Department of Computer Science and TechnologyHunan University of TechnologyZhuzhouChina

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