关键词: 蚁群系统，可见性图，复杂适应系统，全局路径规划，移动机器人

Abstract: The purpose of this paper is to construct active, adaptive ant agents by bottom-up modeling ideas of CAS theory and rely on the cooperation between them to complete the task of global path planning of autonomous mobile robot based on ant colony system when using visibility graph as a route map. hhe ant-agent evolving in the environment incessandy has its own internal structure and behavior rules. Multiple ant agents gathered into an artificial ant colony, communicated inside in the way of stimergy by pheromone, consecauently emerged the swarm intelligence of path planning.

Key words: Ant colony system, Complex adaptive system, Global path planning, Mobile robot