Real-Time Globally Optimized Path Planning in a Dynamic Environment

摘要：

This paper presents a novel method for optimal path planning in a dynamic environment. This method employs Fuzzy Logic to establish a model of the environment and the Ant Colony System (ACS) algorithm to search for the shortest and collision-free route. The result of the computer simulation shows that the method introduced in this paper is effective, and can be applied to any dynamic environment for real-time globally optimized path planning of mobile robots.

关键词： Dynamic Environment Fuzzy Logic Ant Colony System (ACS ) algorithm Real-time Globally Optimal Path Planning Mobile Robots

作者: Wu Qingquan Zeng Bi

作者单位: Institute of Artificial Intelligent Guangdong University of Technology, GDUT Guangzhou, PR China, 510090

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 2187-2190

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）