2007 **Abstract:** A novel method for the real-time globally optimal path planning of mobile robots is proposed based on the ant colony system (ACS) algorithm. This method includes three steps: the first step is utilizing the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is utilizing the Dijkstra algorithm to find a sub-optimal collision-free path, and the third step is utilizing the ACS algorithm to optimize the location of the sub-optimal path so as to generate the globally optimal…

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“…In order to enhance generality of the algorithm, we can contrast with basic PSO, Dijkstra algorithm and the results of literature [18], which utilizes the Ant Colony System (ACS) algorithm to optimize the path, which shows in table II. In order to compare more performances of the algorithm, we compare convergence speed, mean value and standard deviation.…”

confidence: 99%

“…In order to enhance generality of the algorithm, we can contrast with basic PSO, Dijkstra algorithm and the results of literature [18], which utilizes the Ant Colony System (ACS) algorithm to optimize the path, which shows in table II. In order to compare more performances of the algorithm, we compare convergence speed, mean value and standard deviation.…”

confidence: 99%

“…ACO is a probabilistic algorithm proposed by Dorigo et al [134] in 1999, which is originated from bionics. Guan-Zheng et al [135] have presented the modern global path planning method for a mobile robot by applying Ant Colony System (ACS) algorithm and the Dijkstra algorithm. Purian & Sadeghian [136] have explored the optimal path for a mobile robot in an unknown dynamic environment using Ant Colony Optimization (ACO) algorithm and fuzzy controller.…”

confidence: 99%

“…This process can be described as follows [5]: 1) find out the peripheral boundaries of all the obstacles, which are free MAKLINK lines, for example, 1 P P , and 10 3 P P in Figure 1; 2) the perpendicular line from each vertex of the peripheral boundaries to its adjacent boundary of the environment is a free MAKLINK line; find out all of this kind of free MAKLINK lines;…”

confidence: 99%