Path planning for space robot based on the self-adaptive ant colony algorithm

Abstract

Path planning is an important problem in space robot control. The self-adaptive ant colony algorithm is a new class of population basic algorithm. In this paper, obstacle avoidance path planning for space robot is realized by use of the self-adaptive ant colony algorithm. Based on the traditional ant colony algorithm, measures of keeping optimization, adaptively selecting and adaptively adjusting are applied, which can find better path at higher convergence speed. Simulation results using Matlab toolbox show that the method is effective and feasible