[3] DORIGO M.The ant system: an autocatalytic optimizing process［C］//Proceedings of the First European Conference on Artificial Life.Paris:［s.n.］,1991:120-141.

[8] JIAO Z Q, MA K,RONG Y L,et al.A path planning method using adaptive polymorphic ant colony algorithm for smart wheelchairs［J］.Journal of Computational Science, 2018,25: 50-57.

[12] GULCU S,MAHI M,BAYKAN O K,et al.A parallel cooperative hybrid method based on ant colony optimization and 3-opt algorithm for solving traveling salesman problem［J］.Soft Computing,2018,22(5): 1669-1685.

[13] DUBINS L E．On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents［J］．American Journal of Mathematics,1957,79(3): 497-516．