Smooth Path Planning of Mobile Robot Based on Improved Ant Colony Algorithm

Table 1

Comparison of the results of the three algorithms in path planning.

Grid map	Algorithm	Optimal path length	Average path length	Minimum number of iterations	Turn times of optimal path
20 × 20	AS	32.60	32.76	81	6
	ACS	32.60	33.00	56	10
	IACA	32.60	32.60	35	2
30 × 30	AS	50.80	51.20	84	9
	ACS	51.20	51.55	65	17
	IACA	49.60	49.90	61	5
50 × 50	AS	93.80	97.00	174	37
	ACS	98.60	100.60	97	53
	IACA	89.60	90.20	113	4