Research on Global Path Planning of Robot Based on Ant Colony Algorithm and Gaussian Sampling

Table 2

The effect of X_L on experimental results in a 20 × 20 environment.

20 × 20 environment map (Figure 6(a)) (ξ = 0.5)
	XL = 0.5	XL = 1	XL = 2
Average iterations	15	12	14
Average path length (m)	29.82	29.82	29.82
Average simulation time (s)	4.32	3.58	4.09