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Path planning algorithm based on ant colony algorithm for mobile service robot
lian zheng-guang~(1a) cui shi-gang~(1b) bing zhi-gang~(1b.2) tian li-guo~(1b) dong jin-qi~(1a) 1.tianjin university of technology and education; a.department of mechanical engineering; b.department of automation engineering; tianjin 300222; china; 2.institute of robotics and automatic information system; nankai university; tianjin 300071; china
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