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

摘要： 针对栅格法建模的不足，研究了一类全新的微粒群与蚂蚁算法融合的机器人路径规划算法。该方法首先用栅格法建立机器人运动空间模型，在此基础上利用蚂蚁算法进行搜索得到全局导航路径，然后用微粒群算法局部调节导航路径上的路径点，得到更优路径。计算机仿真实验表明，即使在蚂蚁算法得到的导航路径不佳的情况下，利用本算法也可以规划出一条全局优化路径，且能安全避障。

关键词: 机器人, 路径规划, 蚂蚁算法, 遗传算法, 粒子群算法