Path Planning based on Biphasic Ant Colony Algorithm and Fuzzy Control in Dynamic Environment

摘要：

This paper presents a simple yet efficient dynamic path planning algorithm based on biphasic ant colony algorithm with fuzzy control in the environment with some dynamic obstacles. A global optimal path is planned by using the Biphasic ACO (BACO) searching algorithm without consideration of any dynamic obstacles to solve the problem of local optimization. On that basis, the fuzzy control with human experience is introduced to implement dynamic obstacles collision avoidance in dynamic environment. The computer simulation experiments show that the algorithm is feasible and effective.

关键词： dynamic environment robot path planning BACO algorithm fuzzy control

作者: Cai Wenbin Zhu Qingbao Hu Jun

作者单位: School of Computer Science and Technology,Nanjing Normal University Jiangsu Research Center of Information Security & Confidential Engineering Nanjing,China

会议类型: 国际会议

会议名称: 2010 Second International Conference on Intelligent Human-Machine Systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

会议地点: 南京

会议语种:英文

页码: 333-336

在线出版日期: 2010-08-26（万方平台首次上网日期，不代表论文的发表时间）