Path Planning of Mobile Robot Based on Voronoi Diagram by Approximation Structuring and Zonal Ant Colony Algorithm

Path planning plays an important role in the area of mobile robot, which includes two important contents: environment modeling and path searching. The method of Voronoi diagram for general figures by approximation structuring is utilized and the origin and terminal are linked into diagram to construct the non-collision road map. Zonal Ant Colony Algorithm is applied to search the shortest path between origin and terminal. Simulation results demonstrate that the method is simple and effective.