Optimal path planning for autonomous mobile robot navigation using ant colony optimization and a fuzzy cost function evaluation

被引：10

作者：

Garcia, M. A. Porta ^{[1
]}

Montiel, Oscar ^{[1
]}

Castillo, Oscar ^{[2
]}

Sepulveda, Roberto ^{[1
]}

机构：

[1] Ctr Invest & Desarrollo Tecnol Digital CITEDI IPN, Madrid, Spain

[2] Tijuana Inst Technol, Dept Comp Sci, Chula Vista, CA 91909 USA

来源：

ANALYSIS AND DESIGN OF INTELLIGENT SYSTEMS USING SOFT COMPUTING TECHNIQUES | 2007年 / 41卷

关键词：

ant colony optimization; autonomous mobile robot navigation; fuzzy logic; path planning;

D O I：

10.1007/978-3-540-72432-2_79

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this work, a method for finding the optimal path from an initial point to a final one in a previously defined static search map is presented, based on Ant Colony Optimization Meta-Heuristic (ACO-MH). The proposed algorithm supports the avoidance of dynamic obstacles; that is, once the optimal path is found and the robot starts navigating, if the robot's route is interrupted by a new obstacle that was sensed at time t, it will recalculate an alternative optimal path from the actual robot position in order to surround this blocking object and reach the goal.

引用

页码：790 / +

页数：3

共 10 条

[1] [Anonymous], 2004, Ant colony optimization
[2] [Anonymous], 2006, IEEE COMPUT INTELL M
[3] CHEN H, 2005, PATH PLANNING BASED
[4] Engelbrecht A., 2005, Fundamentals of Computational Swarm Intelligence
[5] GEMEINDER M, 2002, ACTIVE SEARCH ALGORI, P589
[6] Gopalakrishnan K., 2006, OPTIMAL PATH PLANNIN, P25
[7] MOHAMAD M, 2005, ANT COLONY ROBOT MOT, P213
[8] TARAKH M, 2000, WORLD AUT C ISORA 02, P1
[9] YE W, 2006, PATH PLANNING SPACE
[10] ZHISHUO L, 2005, IEEE INT C E BUS ENG

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