An improved ant-type approach, ant colony optimization (ACO) model, integrated with a heading direction scheme (HDS) to real-time collision-free navigation and mapping of an autonomous robot is proposed in this paper. The developed HDS-based ACO model for concurrent map building and safety-aware navigation is capable of remedying the shortcoming of risky distance from obstacles in combination with the Dynamic Window Approach (DWA) algorithm as a local navigator. Its effectiveness and efficiency of the developed real-time hybrid map building and safety-aware navigation of an autonomous robot have been successfully validated by simulated experiments and comparison studies.
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