Numerical Potential Field and Ant Colony Optimization Based Path Planning in Dynamic Environment

Author

Lv, Na ; Feng, Zuren

Author_Institution

Syst. Eng. Inst., Xi´´an Jiaotong Univ.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8966

Lastpage

8970

Abstract

A new path planning method is developed in this paper for mobile robot navigation. A novel method called numerical potential field is employed to model the environment the robot resides in. The locomotion of the obstacles is taken into considerations by varying the local potential values. The concepts of reachable place and reachable field are defined. Ant colony optimization method is then applied to perform the path search. The trap position problem and its solution are also discussed. Experiments showed the effectiveness of the algorithm

Keywords

artificial life; mobile robots; motion control; navigation; optimisation; path planning; ant colony optimization; dynamic environment; locomotion; mobile robot navigation; numerical potential field; obstacles; path planning; reachable field; reachable place; trap position problem; Ant colony optimization; Automation; Intelligent control; Manufacturing systems; Mobile robots; Navigation; Path planning; Systems engineering and theory; ant colony optimization algorithm; numerical potential field; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713734

Filename

1713734