Abstract:— This paper proposes a new obstacle avoidance method for finding an optimal path passing through wide free space based on the optimized MAX-MIN Ant System (MMAS) algorithm in dynamic environments. The proposed improvement of the MMAS algorithm occurs in two stages. The first stage analyses the environment with two modifications by proposing a new relation of pheromone trail updating to construct the consequence modified (deposited) pheromone trail update in each iteration based on adding a new parameter (clea… Show more
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