Swarm Intelligence: Ant-based Robot Path Planning

摘要：

In this paper we proposed a novel algorithm Antbased Robot Path Planning (ARPP) based on Ant Colony System (ACS) to mimic a swarm of ants to find the globally optimal path for autonomous mobile robots. Visibility graph was used as both the roadmap and construction graph in ARPP. Although the near-optimums were readily available by ARPP, it is hard to find the optimality; therefore we proposed the special ARPP (S-ARPP) algorithm as its supplement. Experimental results show S-ARPP outperforms ARPP for higher qualities of the global-best path it found, and a flexible trade-off between satisfactory solutions and the number of iterations was also easily available to meet the certain needs.

关键词： ant colony system visibility graph ant-based robot path planning S-ARPP

作者: Jing Zhou Guan-Zhong Dai De-Quan He Jun Ma Xiao-Yan Cai

作者单位: School of Automation Northwestern Polytechnical University Xian,P.R.China

会议类型: 国际会议

会议名称: The Fifth International Conference on Information Assurance and Security(第五届信息保障与安全国际会议)

会议地点: 西安

会议语种:英文

页码: 459-463

在线出版日期: 2009-08-18（万方平台首次上网日期，不代表论文的发表时间）