A Novel Mobile Robot Path Planning Method Based on ACO Algorithm Using New Ants Meeting Judgment Strategy
Since equivalent distributing of initial pheromone in ant colony optimization algorithm results in longer searching time, pheromone gain and heuristic information are added to reasonably allocate initial pheromone in this paper. Two-way parallel searching tactic used in order to exert cooperation and optimization abilities between ants adequately, and then a new meeting discriminance is given to guarantee searching all feasible paths and to avoid losing some feasible paths. Pheromone mutual leading method is also designed to accelerate searching optimizing speed by guiding and studying of two kinds of pheromones. Finally, Chaos searching algorithm is introduced to help algorithm jumping out local optima.