Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm

  • Tan Guan-zheng Email author
  • He Huan 
  • Aaron Sloman 


A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.

Key words

mobile robot global optimal path planning improved Dijkstra algorithm ant system algorithm MAKLINK graph free MAKLINK line 

CLC number

TP242 TP306.1 


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Copyright information

© Central South University 2006

Authors and Affiliations

  1. 1.School of Information Science and EngineeringCentral South UniversityChangshaChina
  2. 2.School of Computer ScienceThe University of BirminghamBirminghamUK

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