MOBILE ROBOT PATH PLANNING BASED ON ANT COLONY ALGORITHM WITH A* HEURISTIC METHOD

This paper proposes an improved ant colony algorithm to achieve efficient searching capabilities of path planning in complicated maps for mobile robot.The improved ant colony algorithm uses the characteristics of A* algorithm and MAX-MIN Ant system.Firstly, the grid environment model is constructed.The evaluation function of A* algorithm and the be

The human steroid 21-hydroxylase gene (CYP21A2) participates in cortisol and aldosterone biosynthesis, and resides together with read more its paralogous (duplicated) pseudogene in a multiallelic copy number variation (CNV), called RCCX CNV.Concerted evolution caused by non-allelic gene conversion has been described in great ape CYP21 genes, and th