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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)
作者部门机器人学研究室
会议名称30th Chinese Control Conference, CCC 2011
会议日期July 22-24, 2011
会议地点Yantai, China
会议主办者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
会议录名称Proceedings of the 30th Chinese Control Conference, CCC 2011
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2011
页码4102-4104
收录类别EI
EI收录号20113914368896
WOS记录号WOS:000312652104039
产权排序3
ISBN号978-988-17255-9-2
关键词Ant Colony Optimization Path Planning Mobile Robot Path Selecting Strategy Global Pheromone Updating
摘要Ant 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20070
专题机器人学研究室
通讯作者Zhao JP(赵娟平)
作者单位1.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
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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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