The Application of an Improved Ant Colony Algorithm in Mobile Robot Path Planning

Xiao Guang Zhu; Qing Yao Han; Zhang Qi Wang

doi:10.4028/www.scientific.net/KEM.467-469.222

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 467-469The Application of an Improved Ant Colony...

The Application of an Improved Ant Colony Algorithm in Mobile Robot Path Planning

Abstract:

This paper presents an improved ant colony algorithm to plan an optimal collision-free path for mobile robot in complicated static environment. Based on the work space model with grid method, simulated foraging behavior of ants and to serve the mobile robot path planning, update the conventional ant colony algorithm with some special functions. To avoid mobile robot path deadlock, a dead-corner table is established and the penalty function is used to update the trail intensity when an ant explores a dead—corner in the path searching. The simulation results show that the algorithm can improve performance of path planning obviously, and the algorithm is simple and effective.

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Periodical:

Key Engineering Materials (Volumes 467-469)

Pages:

222-225

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.467-469.222

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Online since:

February 2011

Authors:

Xiao Guang Zhu, Qing Yao Han, Zhang Qi Wang

Keywords:

Ant Colony Algorithm (ACA), Mobile Robot, Path Planning

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References

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