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

摘要： 在复杂障碍环境下，如何使机器人所走路径最优，一直是机器人路径规划研究领域里的一个研究热点。依据真实蚂蚁具有自动分流功能这一研究成果，提出了一种全新的机器人路径规划蚂蚁算法。该方法首先用栅格法对机器人运动环境进行建模，在此基础上，两组蚂蚁进行相向觅食，当某节点被多只蚂蚁选择时，则自动分流，从而扩大了搜索范围，增强了搜索多样性，有利于获得最优解。计算机仿真实验表明，即使在复杂的环境下，用该算法也可以较迅速的规划出一条全局优化的路径，效果令人满意。

关键词: 机器人, 路径规划, 自动分流, 蚂蚁算法, 栅格法