[7] [7] TIAN L F, COLLINS C.An effective robot trajectory planning method using a genetic algorithm ［J］.Mechatronics, 2004, 14: 455-470.

[8] [8] TAN G Z, HE H, SLOMAN A.Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm ［J］.Journal CSUT, 2006, 13(1):80-86.

[10] [10] WU X X, MING Y, WANG J．An improved path planning approach based on particle swarm optimization［C］//International Conference on Hybrid Intelligent Systems (HIS), 2011:157-161．

[15] [15] LEON J L.Automatic path planning for a mobile robot among obstacles of arbitrary shape ［J］.IEEE Trans.SMC (S1083-4419), 1993, 28(3):467-471.