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Dynamic Obstacle Avoidance in Polar Coordinates for Mobile Robot Based on Laser Radar., , , , , , and . PACIIA (2), page 334-338. IEEE Computer Society, (2008)978-0-7695-3490-9.An improved ant colony algorithm for robot path planning., , , , and . Soft Comput., 21 (19): 5829-5839 (2017)