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This paper presents a simple yet efficient dynamic path planning algorithm based on biphasic ant colony algorithm with fuzzy control in the environment with some dynamic obstacles. A global optimal path is planned by using the Biphasic ACO (BACO) searching algorithm without consideration of any dynamic obstacles to solve the problem of local optimization. On that basis, the fuzzy control with human experience is introduced to implement dynamic obstacles collision avoidance in dynamic environment. The computer simulation experiments show that the algorithm is feasible and effective.