Title :
Dynamic path planning in RoboCup rescue simulation competition
Author :
Yang Xiang ; Liang Zhiwei ; Wei Zhipeng ; Cui Xuanyu
Author_Institution :
Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China
Abstract :
Path planning method is one of important problems in RoboCup (Robot World Cup, RoboCup) Rescue Simulation Platform. An improved ant colony algorithm was employed in this paper to handle the problem in complex environments. We applied the Target Vantage Value (TVV) technology to work out the drawback of trapping in local minimum. Subsequently, the calculation of state transition probability was also improved in the dynamic and unknown road conditions. Experimental results demonstrate the better efficiency and reliability of our method.
Keywords :
ant colony optimisation; mobile robots; multi-robot systems; path planning; probability; reliability; RoboCup rescue simulation competition; RoboCup rescue simulation platform; Robot World Cup; TVV technology; complex environments; dynamic path planning method; dynamic unknown road conditions; improved ant colony algorithm; state transition probability; target vantage value technology; Algorithm design and analysis; Conferences; Convergence; Heuristic algorithms; Mathematical model; Path planning; Roads; Path Planning; RoboCup Rescue; ant colony algorithm;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162693
