Mobile Robot Navigation in Unknown Dynamic Environment Based on Ant Colony Algorithm

In view of the navigation problem of mobile robot in unknown dynamic environment, this paper proposes a new method of robot rolling navigation using improved ant colony system algorithm. The method first utilize the fuzzy logistic description to establish the fuzzy environment model of robot local area, and then adopts the improved ant colony system algorithm to quickly search each local optimal path. With the optimal path leading, the robot achieves navigation in unknown dynamic environment combine with the method of rolling path planning. The methods not only overcome the influences of fuzziness and uncertainty of environmental information which causes by sensor's inferior detection, but also has fully exploited the ant colony algorithm superiority in the community intelligence. The simulation result indicates the validity and the feasibility of this algorithm.