Title :
Enhanced Ant Colony Optimization Algorithm for Global Path Planning of Mobile Robots
Author :
Zhiping Zhou ; Yunfeng Nie ; Gao Min
Author_Institution :
Sch. of Inf. Eng., Nanchang Hangkong Univ., Nanchang, China
Abstract :
An enhanced ant colony optimization algorithm is proposed. The search deadlock is ruled out through modifying both initial environment pheromone and state transition probability. The roundabout of trajectory is improved by combining deterministic search with stochastic search. Experimental results show that the new algorithm can provide desirable safety path under the complex situation, which contains dense obstacles or many concave blocks, as well as computational time can meet the requirement of practically applications.
Keywords :
ant colony optimisation; mobile robots; path planning; probability; search problems; stochastic processes; concave blocks; dense obstacles; deterministic search; enhanced ant colony optimization algorithm; global path planning; initial environment pheromone; mobile robots; safety path; search deadlock; state transition probability; stochastic search; trajectory roundabout; Algorithm design and analysis; Ant colony optimization; Educational institutions; Mobile robots; Optimization; Path planning; ant colony optimization; concave blocks; consistency of path; path planning;
Conference_Titel :
Computational and Information Sciences (ICCIS), 2013 Fifth International Conference on
Conference_Location :
Shiyang
DOI :
10.1109/ICCIS.2013.189
