Trajectory Planning for Spherical Robot Using Ant Algorithm

摘要

Ant algorithm is one kind of novel bionic optimization methodology. It assimilates the behavior characteristic of ant, and shows good performance in combinational optimization problems through its inside searching mechanism. In this paper, a novel trajectory planning method for a spherical robot using ant Colony Optimization algorithm is provided. The experiment demonstrates the feasibility of the proposed technique, with the robot can reaches destination in a satisfied trajectory with minimal probability of failure.