关键词: 机器人, 路径规划, 蚂蚁算法, 遗传算法, 粒子群算法

Abstract: An algorithm based on Ant Algorithm（AA） and Particle Swarm Optimizer（PSO） for path planning of robot is proposed to dispose the defect of grid method.First the grid method is built to describe the working space of the mobile robot，then the ant algorithm is used to obtain the global navigation path，and the particle swarm optimization algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved，and the model is robust and performs reliably.

Key words: robot, path planning, ant algorithm, genetic algorithm, particle swarm algorithm