Mobile Robot Path Planning Using Ant Colony Algorithm and Improved Potential Field Method

Table 1

Test results of robot path planning by three algorithms.

Algorithm	Time-consuming (ms)	Grid number of path	Path length (the number of grids)	Turning angle (rad)
APF-ACO	1890	32	34	2π
Improved APF	1500	57	65	27π
Traditional ACO	30000	0	0	0
Traditional APF	∞	3	3	0