Abstract: Based on automatic diffluence of ant colonies in the nature，a new ant algorithm is proposed.This paper proposes a new rolling algorithm for path plan of mobile robot based on heterogeneous ant algorithm.The diffluent ant chooses the path which has the less pheromone to enable the searching to be variety.The number of diffluent ants is adjusted by simulated annealing for expediting convergence.Simulation results illustrate that the algorithm can be used to plan the optimized path for mobile robot even in the complex and unknown static environment.

Key words: path planning, diffluent ant, ant algorithm, rolling plan

摘要： 依据真实蚂蚁具有自动分流功能这一研究成果，提出了一种全新的基于异类蚂蚁算法的机器人路径滚动规划算法。算法引入分流蚁，以选择信息素较少的路径行走，从而增强了搜索多样性。为加快收敛，结合模拟退火思想动态调节分流蚁的个数。仿真实验表明，即使在复杂的未知环境下，利用该算法也可以规划出一条全局优化路径。

关键词: 路径规划, 分流蚂蚁, 蚂蚁算法, 滚动规划