Dynamic Path Planning of Mobile Robots Based on ABC Algorithm

摘要

For the global path planning of mobile robot under the dynamic uncertain environment, a path planning method combined time rolling window strategy and artificial bee colony (ABC) algorithm was proposed. To meet the real time requirement, the global path was replaced by local paths within a series of rolling windows. Due to the ability of global optimization, and rapid convergence of artificial bee colony algorithm, it was applied to plan the local path. According to the special environment, a suitable fitness function was designed to avoid dynamic obstacles in artificial bee colony algorithm. The simulation results of proposed method demonstrated that it has great efficiency and accuracy, and it is suitable for solving this kind of problem.