Ant Colony Algorithm using Endpoint Approximation for Robot Path Planning

摘要：

An ant colony algorithm using endpoint approximation is proposed for robot path planning under a unknown and static environment. In this algorithm the model of robots workspace is established with grid method and fold-back iterating is used to search the aims. A heuristic factor based on the most pheromone in a moving direction range and a goal guiding function is used during the searching process. Meanwhile, two kinds of pheromone are used to guide ants. Furthermore, according to the features of the pheromone strewing in the grids and ants visiting grids, an endpoint approximation method is proposed to make the starting point and the end point gradually move towards each other in the iterative process in order to shorten the distance between the starting point and the end point and accelerate the speed of convergence. The simulation results demonstrate that the proposed algorithm has much high efficiency.

关键词： Gird method Robot Path planning Ant colony algorithm

作者: Pei-dong Wang Gong-you Tang Yang Li Xi-xin Yang

作者单位: College of Information Science and Engineering, Ocean University of China, Qingdao, 266100

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4960-4965

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）