The invention discloses a
mobile robot path
planning method based on an
ant colony
algorithm under a dynamic environment. The method comprises the following steps of 1, modeling the environment by using a
grating method; 2, building local
diffusion information
pheromone tau''rs; 4, computing a transition probability; 5, adding a feasible node S into a tabu table; 6, completing paths; 7, acquiringthe shortest path via path information recorded in the tabu table; 8, updating
pheromone matrix elements; and 9, finding the optimal path via iteration, that is to say an
algorithm ending condition ismet, and outputting a final result. According to the
ant colony
algorithm based on a
potential field method provided by the invention, the faster convergence speed and optimizing ability are provided, the local
diffusion information
pheromone has relative good smoothness, the
collaboration ability of individual ants is further enhanced, the local cross paths are reduced, the quantity of lost antsis reduced, and thus the
ant colony algorithm is converged to the
global optimum with the faster speed, and meanwhile also achieves the diversity of learning, and the defect that an artificial
potential field method is easy to trap in the
local optimum is overcome.