中文摘要：

移动机器人路径规划是机器人学的一个重要研究领域，栅格法模型是其中一类实时性很强的路径规划模型。该文引入蚁群算法的思想，以点离目标点距离、该点的访问次数和移动方向信息素为启发式因子，建立了一种新型的优化算法。新算法不仅能够较好地对已有算例进行求解，而且对于随机设计的新例子求解效果良好。

英文摘要：

Motion planning of autonomous mobile robot,for which grid method is a kind of real-time model,is one of the most important study fields for robot science.In the present paper,ant colony optimization（ACO） is introduced to form a new optimal algorithm（ACO-grid）,in which there is a heuristic based on the distance from the position to the goal,the times that the posotion has been visited and the moving direction of robot.ACO-grid can be varified to be effective by the computational result in the test instances.