关键词: 机器人, 路径规划, 自动分流, 蚂蚁算法, 栅格法

Abstract: A difficult issue of robot path planning in a cluttered environment is that planned path is global optimal.A new ant algorithm based on automatic diffluent ant is proposed.First the grid method is built to describe the working space of the mobile robot，then the foraging behavior of ant is simulated and optimal path search is finished by many ants cooperatively.Furthmore，the strategies of probabilistic search，nearest neighbor search and a goal guiding function are applied to enable the searching to be rapid and efficient.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, automatic diffluence, ant algorithm, grid method