Title :
Robot Obstacle Avoidance based on an Improved Ant Colony Algorithm
Author :
Dong, Jie ; Liu, Bing ; Peng, Kaixiang ; Yin, Yixin
Author_Institution :
Sch. of Inf. Eng., Univ. of Sci. & Technol., Beijing, China
Abstract :
Obstacle avoidance for mobile robot is a nondeterministic polynomial hard (NP-hard) problem. Ant algorithm is the bionic algorithm which simulated ants foraging behavior, which can effectively solve the problems of this kind. In this paper, we propose an improved ant colony algorithm for robot obstacle avoidance, in which heuristic information is adjusted at run-time during the searching process. The proposed algorithm can effectively alleviate the local optimum problem, global optimal path can be robustly found in our experiments.
Keywords :
collision avoidance; computational complexity; mobile robots; NP-hard problem; global optimal path; heuristic information; improved ant colony algorithm; local optimum problem; mobile robot; nondeterministic polynomial hard problem; robot obstacle avoidance; Ant colony optimization; Intelligent robots; Intelligent systems; Mobile robots; NP-hard problem; Navigation; Orbital robotics; Path planning; Robustness; Runtime; ant colonly; obstacle avoidance; robot;
Conference_Titel :
Intelligent Systems, 2009. GCIS '09. WRI Global Congress on
Conference_Location :
Xiamen
Print_ISBN :
978-0-7695-3571-5
DOI :
10.1109/GCIS.2009.307
