Improved Ant Colony optimization Algorithm and Its Application for Path Planning of Mobile Robot in 3-D Space

摘要：

An improved ant colony algorithm, differential evolution chaos ant colony optimization (DEACO) algorithm, was proposed to plan an optimal collision-free path for mobile robot in 3-D environment. It utilized differential evolution algorithm to update pheromone and chaos disturbance factor was added when pheromone updates for possible stagnation phenomenon. So it enhances escaping capability of algorithm, avoids path-deadlock situations as well as improves the efficiency of planning optimal path. The simulation results indicated that the optimal path on which the robot moves can reach safely and can be rapidly obtained under 3-D space environment, the effect being very satisfactory.

关键词： mobile robot path planning ant colony optimization algorithm differential evolution Chaos sinulation

作者: ZHAO Juan-ping GAO Xian-wen LIU Jin-gang FU Xiu-hui

作者单位: College Information Science and engineering of Northeastern University College of Information engine College Information Science and engineering of Northeastern University Shenyang,China College Information Science and engineering of Northeastern University Shenyang Xinghua Aero-Electri College Information Science and engineering of Northeastern University Shenyang Institute of Automat

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 194-198

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）