Title :
Path Planning of Mobile Robot Based on Voronoi Diagram by Approximation Structuring and Zonal Ant Colony Algorithm
Author :
Rui Wen ; Hang-yu Wang ; Jun Xie
Author_Institution :
Electron. Eng. Coll., Naval Univ. of Eng., Wuhan, China
Abstract :
Path planning plays an important role in the area of mobile robot, which includes two important contents: environment modeling and path searching. The method of Voronoi diagram for general figures by approximation structuring is utilized and the origin and terminal are linked into diagram to construct the non-collision road map. Zonal Ant Colony Algorithm is applied to search the shortest path between origin and terminal. Simulation results demonstrate that the method is simple and effective.
Keywords :
collision avoidance; computational geometry; mobile robots; optimisation; Voronoi diagram; Zonal ant colony algorithm; approximation structuring method; mobile robot; path planning; Approximation algorithms; Computational geometry; Computer graphics; Data structures; Educational institutions; Geographic Information Systems; Mathematical model; Mobile robots; Path planning; Roads;
Conference_Titel :
Computational Intelligence and Software Engineering, 2009. CiSE 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4507-3
Electronic_ISBN :
978-1-4244-4507-3
DOI :
10.1109/CISE.2009.5365942
