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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Published in:2010 International Conference On Computer Design and Applications Vol. 3; pp. V3-436 - V3-440
Main Authors: Brand, M, Masuda, M, Wehner, N, Xiao-Hua Yu
Format: Conference Proceeding
Language:English
Japanese
Published: IEEE 01.06.2010
Subjects:
Ant colony optimization
Application software
Computer simulation
Manipulator dynamics
Motion control
Navigation
NP-complete problem
Particle swarm optimization
Path planning
Robot Path Planning
Robots
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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.
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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  organization: Dept. of Electr. Eng., California Polytech. State Univ., San Luis Obispo, CA, USA
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  surname: Wehner
  fullname: Wehner, N
  organization: Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA
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  surname: Xiao-Hua Yu
  fullname: Xiao-Hua Yu
  organization: Dept. of Electr. Eng., California Polytech. State Univ., San Luis Obispo, CA, USA
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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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StartPage V3-436
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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