Th e i nf o r ma t i o n o f e n v i r on me n t c o n s t r a i n s a nd pa t h l e n g t h Wa s i n t e g r a t e d i n t he f it n e s s f un c t i o n whi c h Wa s c o mp ut e d by n e u r a l n e t wo r k，t h e pa t h no de s wa s v i e we d a s a p a r t i c l e，8 0 wi t h t h e qu a l i t y o f o p t i mi z a t i o n o f h y br id p a r t i c l e s wa r m a lg o ． r i t h m，a b e s t p a t h W a s f o u n d ．F i n a ll y b y c o mp u t e r s i mu l a t i o n，i t i s p r ov e d t h a t t h e a l g o r i t h m i s r a t i o n a l a n d c a n b e u s e d i n mo — bi l e r ob o t r e a l— t i me n a v i g a t i o n

Ant Colony System\Ant Colony System\ACASP.m
.................\.................\data1.mat
.................\.................\data2.mat
.................\.................\G2D.m
.................\.................\MainSim.m
.................\Ant Colony System
Ant Colony System

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