An Improved Ant Colony Optimization Algorithm for Mobile Robot Path Planning

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	An Improved Ant Colony Optimization Algorithm for Mobile Robot Path Planning
	Zhao JP(赵娟平); Fu XH(符秀辉); Jiang Y(姜莹)
	2011
会议名称	2011 3rd International Workshop on Intelligent Systems and Applications (ISA)
会议日期	May 28-29, 2011
会议地点	Wuhan, China
关键词	ant colony optimization path planning mobile robot two-way parallel searching meeting judgment pheromone mutual steering
页码	4 pp.
中文摘要	Ant two-way parallel searching strategy is adopted to accelerate searching speed, but it is clearly seen that this tactic loses some feasible paths and even loses optimal path, so a new ants meeting judgment method is proposed in this paper. At the same time pheromone gain is added to allocate initial pheromone reasonably in order to deal with slow searching speed brought by equivalence distributing of initial pheromone. Pheromone mutual leading method is also designed to accelerate optimizing speed. Above designs can accelerate searching speed but maybe put algorithm running into local optima, so chaos disturbance is introduced to help algorithm jumping out local optima. Finally simulation results indicate that the optimal path on which the robot moves can reach safely and rapidly under 2-D environment.
收录类别	EI
产权排序	2
会议主办者	Hubei Univ. Technol.
会议录	2011 3rd International Workshop on Intelligent Systems and Applications (ISA)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-9855-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8572]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhao JP,Fu XH,Jiang Y. An Improved Ant Colony Optimization Algorithm for Mobile Robot Path Planning[C]. 见:2011 3rd International Workshop on Intelligent Systems and Applications (ISA). Wuhan, China. May 28-29, 2011.