For the problem of mobile robot's path planning under the known environment, a path
planning method of mixed artificial potential field (APF) and ant colony optimization (ACO)
based on grid map is proposed. First, based on the grid model, APF is improved in three
ways: the attraction field, the direction of resultant force, and jumping out the infinite loop.
Then, the hybrid strategy combined global updating with local updating is developed to
design updating method of the ACO pheromone. The process of optimization of ACO is …

It is a research topic of practical significance to study the path planning technology of mobile
robot navigation technology. Aiming at the problems of slow convergence speed, redundant
planning path, and easy to fall into local optimal value of ant colony algorithm in a complex
environment, a robot path planning based on improved ant colony algorithm is proposed.
First, the grid method is used to model the path environment, which marks each grid to make
the ant colony move from the initial grid to the target grid for path search. Second, the ant …