Enhanced Ant Colony Optimization Algorithm for Global Path Planning of Mobile Robots

Author

Zhiping Zhou ; Yunfeng Nie ; Gao Min

Author_Institution

Sch. of Inf. Eng., Nanchang Hangkong Univ., Nanchang, China

fYear

2013

fDate

21-23 June 2013

Firstpage

698

Lastpage

701

Abstract

An enhanced ant colony optimization algorithm is proposed. The search deadlock is ruled out through modifying both initial environment pheromone and state transition probability. The roundabout of trajectory is improved by combining deterministic search with stochastic search. Experimental results show that the new algorithm can provide desirable safety path under the complex situation, which contains dense obstacles or many concave blocks, as well as computational time can meet the requirement of practically applications.

Keywords

ant colony optimisation; mobile robots; path planning; probability; search problems; stochastic processes; concave blocks; dense obstacles; deterministic search; enhanced ant colony optimization algorithm; global path planning; initial environment pheromone; mobile robots; safety path; search deadlock; state transition probability; stochastic search; trajectory roundabout; Algorithm design and analysis; Ant colony optimization; Educational institutions; Mobile robots; Optimization; Path planning; ant colony optimization; concave blocks; consistency of path; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational and Information Sciences (ICCIS), 2013 Fifth International Conference on

Conference_Location

Shiyang

Type

conf

DOI

10.1109/ICCIS.2013.189

Filename

6643105