In this algorithm the model of robot s workspace was established with grid method and foldback iterating was used to search the aims by simulating the foraging behavior of ant colony.

• 该算法使用栅格法对机器人的工作空间进行建模，通过模拟蚂蚁的觅食行为，采用折返的迭代方式对目标进行搜索。