Earticle

초록

영어

Path planning for the mobile robot is to find a shortest obstacle free path from the starting position to the target position. Ant colony optimization method is frequently used to obtain the optimal path in the static known environment. But local minimum and slow convergence are the main problems of ant colony algorithm. This paper proposes a modified ant colony algorithm for path planning of the mobile robot in a known static environment. The modified ant colony algorithm can enlarge the searching range so that the local minimum problem can be weakened, while the algorithm can also converge quickly. And in the optimal path searching process, the turning factor is considered, too. The obtained optimal path has not only short distance, but also few big turning positions. Simulations are done to verify the proposed modified ant colony algorithm.

목차

Abstract
 1. Introduction
 2. Ant Colony Algorithm for Path Planning
 3. Modified Ant Colony Algorithm
 4. Simulation
 5. Conclusion
 Acknowledgments
 References

키워드

저자

• Yuanliang Zhang [ School of Automation, Southeast University, Jiangsu Institute of Marine Resources, Huaihai Institute of Technology ] Corresponding author
• Cheng Chen [ Jiangsu Institute of Marine Resources, Huaihai Institute of Technology ]
• Qing Liu [ Jiangsu Institute of Marine Resources, Huaihai Institute of Technology ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605