Planning with ants Efficient path planning with rapidly exploring random trees and ant colony optimization

Rapidly exploring random trees (RRTs) have been proven to be efficient for planning in environments populated with obstacles. These methods perform a uniform sampling of the state space, which is needed to guarantee the algorithm’s completeness but does not necessarily lead to the most efficient sol...

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Veröffentlicht in:International journal of advanced robotic systems Jg. 13; H. 5
Hauptverfasser: Viseras, Alberto, Losada, Rafael Ortiz, Merino, Luis
Format: Journal Article
Sprache:Englisch
Veröffentlicht: London, England SAGE Publications 07.10.2016
Schlagworte:
rapidly exploring random trees
ant colony optimization
Mobile robots
autonomous agents
motion and path planning
bio-inspired robotics
ISSN:1729-8806, 1729-8814
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Zusammenfassung:Rapidly exploring random trees (RRTs) have been proven to be efficient for planning in environments populated with obstacles. These methods perform a uniform sampling of the state space, which is needed to guarantee the algorithm’s completeness but does not necessarily lead to the most efficient solution. In previous works it has been shown that the use of heuristics to modify the sampling strategy could incur an improvement in the algorithm performance. However, these heuristics only apply to solve the shortest path-planning problem. Here we propose a framework that allows us to incorporate arbitrary heuristics to modify the sampling strategy according to the user requirements. This framework is based on ‘learning from experience’. Specifically, we introduce a utility function that takes the contribution of the samples to the tree construction into account; sampling at locations of increased utility then becomes more frequent. The idea is realized by introducing an ant colony optimization concept in the RRT/RRT* algorithm and defining a novel utility function that permits trading off exploitation versus exploration of the state space. We also extend the algorithm to allow an anytime implementation. The scheme is validated with three scenarios: one populated with multiple rectangular obstacles, one consisting of a single narrow passage and a maze-like environment. We evaluate its performance in terms of the cost and time to find the first path, and in terms of the evolution of the path quality with the number of iterations. It is shown that the proposed algorithm greatly outperforms state-of-the-art RRT and RRT* algorithms.
ISSN:1729-8806
1729-8814
DOI:10.1177/1729881416664078