Earticle

초록

영어

Aiming at the path planning problem of mobile robot, a chaotic ant colony system was presented. The idea of the algorithm was that first generated chaotic sequences as the initial pheromone matrix and then ant colony traversed grids environment once, pheromone on the path was updated, as the completeness of the pheromone initialization. Pheromone update strategy adopt self-adaptive chaotic disturbance to avoid the search being trapped in local optimum. Grids environment simulated the robot workspace. Through the process of self-organization and chaos, the ant colony found the optimal path in the robot’s static environment. Simulation results show that chaotic ant colony system not only enhances the global search capability, but also more effective than the traditional ACS, moreover, it’s a novel approach to the robot path planning.

목차

Abstract
 1. Introduction
 2. Ant Colony Algorithm for the Mobile Robot Path Planning
  2.1. State Transition Rules
  2.2. Pheromone Update Rule
 3. Chaotic Ant Colony System
  3.1. Chaotic Initialization based on Logistic Map
  3.2. Update Pheromone with Chaos Disturbance
 4. Simulation of Two-Dimensional Grid Environment
  4.1. Algorithm Steps
  4.2. Comparison Simulation Analysis
  4.3. Multi-Objective Path Planning
 5. Conclusions
 6. ACKNOWLEDGEMENTS
 References

키워드

저자

• Xiaoming You [ College of Electronic and Electrical Engineering Shanghai University of Engineering Science No. 333, Longteng Road, Shanghai, 201620, China ]
• Kai Liu [ College of Electronic and Electrical Engineering Shanghai University of Engineering Science No. 333, Longteng Road, Shanghai, 201620, China ]
• Sheng Liu [ College of Electronic and Electrical Engineering Shanghai University of Engineering Science No. 333, Longteng Road, Shanghai, 201620, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605