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Mobile robot path planning based on improved ant colony optimization algorithm
Zhao JP(赵娟平); Gao XW(高宪文); Fu XH(符秀辉)
Department机器人学研究室
Conference Name30th Chinese Control Conference, CCC 2011
Conference DateJuly 22-24, 2011
Conference PlaceYantai, China
Author of SourceAcademy of Mathematics and Systems Science, CAS; IEEE Control Systems Society; IEEE Industrial Electronics Society; The Society of Instr. and Contr. Engineers of Japan; Institute of Control, Robotics and Systems of Korea
Source PublicationProceedings of the 30th Chinese Control Conference, CCC 2011
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2011
Pages4102-4104
Indexed ByEI
EI Accession number20113914368896
WOS IDWOS:000312652104039
Contribution Rank3
ISBN978-988-17255-9-2
KeywordAnt Colony Optimization Path Planning Mobile Robot Path Selecting Strategy Global Pheromone Updating
AbstractAnt two-way parallel searching strategy presented in [1] is adopted to utilize cooperation ability between ants and to accelerate searching speed, but it is clearly seen that this tactic loses some feasible paths and even loses optimal path, so a new ants encountering judgment method is proposed. Then in order to avoid running into local optima a new path selecting strategy and a new global pheromone updating tactic are proposed. Simulation researches indicate improved algorithm has good efficiency and as long as the path objectively exists the algorithm can plan a safe optimal path quickly.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20070
Collection机器人学研究室
Corresponding AuthorZhao JP(赵娟平)
Affiliation1.College of Information Science and Engineering, Northeastern University, Shenyang 110004, China
2.Academy of Information Engineering, Shenyang University of Chemical Technology, Shenyang 110142, China
3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015, China
Recommended Citation
GB/T 7714
Zhao JP,Gao XW,Fu XH. Mobile robot path planning based on improved ant colony optimization algorithm[C]//Academy of Mathematics and Systems Science, CAS; IEEE Control Systems Society; IEEE Industrial Electronics Society; The Society of Instr. and Contr. Engineers of Japan; Institute of Control, Robotics and Systems of Korea. Piscataway, NJ, USA:IEEE Computer Society,2011:4102-4104.
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