Ant Colony Optimization algorithm for robot path planning
Path planning is an essential task for the navigation and motion control of autonomous robot manipulators. This NP-complete problem is difficult to solve, especially in a dynamic environment where the optimal path needs to be rerouted in real-time when a new obstacle appears. The ACO (Ant Colony Opt...
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| Vydáno v: | 2010 International Conference On Computer Design and Applications Ročník 3; s. V3-436 - V3-440 |
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| Jazyk: | angličtina japonština |
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IEEE
01.06.2010
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| Abstract | Path planning is an essential task for the navigation and motion control of autonomous robot manipulators. This NP-complete problem is difficult to solve, especially in a dynamic environment where the optimal path needs to be rerouted in real-time when a new obstacle appears. The ACO (Ant Colony Optimization) algorithm is an optimization technique based on swarm intelligence. This paper investigates the application of ACO to robot path planning in a dynamic environment. Two different pheromone re-initialization schemes are compared and computer simulation results are presented. |
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| AbstractList | Path planning is an essential task for the navigation and motion control of autonomous robot manipulators. This NP-complete problem is difficult to solve, especially in a dynamic environment where the optimal path needs to be rerouted in real-time when a new obstacle appears. The ACO (Ant Colony Optimization) algorithm is an optimization technique based on swarm intelligence. This paper investigates the application of ACO to robot path planning in a dynamic environment. Two different pheromone re-initialization schemes are compared and computer simulation results are presented. |
| Author | Wehner, N Brand, M Xiao-Hua Yu Masuda, M |
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| Snippet | Path planning is an essential task for the navigation and motion control of autonomous robot manipulators. This NP-complete problem is difficult to solve,... |
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| SubjectTerms | Ant colony optimization Application software Computer simulation Manipulator dynamics Motion control Navigation NP-complete problem Particle swarm optimization Path planning Robot Path Planning Robots |
| Title | Ant Colony Optimization algorithm for robot path planning |
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