Path Planning and Replanning for Intelligent Robot Based on Improved Ant Colony Algorithm

Bi Wei Tang; Zhan Xia Zhu; Qun Fang; Wei Hua Ma

doi:10.4028/www.scientific.net/AMM.390.495

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Initial Alignment Error and Navigation Error Compensation Methods for SINS/CNS Integration
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Path Planning and Replanning for Intelligent Robot Based on Improved Ant Colony Algorithm
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An Adaptive & Fault Tolerant SINS/GPS Integrated Navigation Scheme Robustified against Slowly Growing Errors in GPS Updates
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GPS-INS Integration Algorithm for Autonomous Vehicle Using Loosely Coupled Integration Architecture
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 390Path Planning and Replanning for Intelligent Robot...

Path Planning and Replanning for Intelligent Robot Based on Improved Ant Colony Algorithm

Abstract:

The effectiveness of path planning and path replanning for intelligent robot using improved ant colony algorithm is explored in this paper. For the purpose of avoiding falling into local optimum and preventing iterative stagnant, this paper describes a new algorithm named stochastic self-adaptive ant colony algorithm to improve the basic ant colony algorithm. Based on the improved ant colony algorithm, the approaches of path planning and path replanning are presented in this paper. Aiming at improving the speed of the algorithm and simplifying the objective function of traditional path planning, this paper presents a principle of eliminating the path nodes .Finally, some constrast emulators are designed.The simulation results proves that the improved ant colony algorithm has strong adaptability in intelligent robots path path planning and replanning.

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Periodical:

Applied Mechanics and Materials (Volume 390)

Pages:

495-499

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.390.495

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Online since:

August 2013

Authors:

Bi Wei Tang, Zhan Xia Zhu, Qun Fang, Wei Hua Ma

Keywords:

Ant Colony Algorithm (ACA), Intelligent Robot, Path Planning, Path Replanning

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