Path planning method for mobile robot based on ant colony optimization algorithm

Author

Cen, Yuwan ; Song, Choingzhi ; Xie, Nenggang ; Wang, Lu

Author_Institution

Sch. of Mech. Eng., Anhui Univ. of Technol., Maanshan

fYear

2008

fDate

3-5 June 2008

Firstpage

298

Lastpage

301

Abstract

A novel path planning approach based on ACO was presented aiming at mobile robots in structured environments. The information of environment constrains and path length was integrated in the fitness function which was computed by neural network, the path nodes were viewed as an ant, so with the quality of optimization of ant colony optimization algorithm, the best path was found. Finally by computer simulation, it is got that the algorithm is rational and can be used in process industry warehouse patrol measurement mobile robot real-time navigation.

Keywords

mobile robots; optimisation; path planning; ant colony optimization algorithm; computer simulation; fitness function; mobile robots; neural network; path planning method; process industry warehouse patrol measurement; real-time navigation; Ant colony optimization; Artificial neural networks; Computational modeling; Constraint optimization; Genetic algorithms; Heuristic algorithms; Mobile robots; Navigation; Path planning; Space technology; ant colony optimization (ACO); mobile robot; particle swarm optimization algorithm (PSO); path planning; process industry;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2008. ICIEA 2008. 3rd IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-1717-9

Electronic_ISBN

978-1-4244-1718-6

Type

conf

DOI

10.1109/ICIEA.2008.4582528

Filename

4582528