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Content Provider | IEEE Xplore Digital Library |
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Author | Qingbao Zhu Lingling Wang |
Copyright Year | 2008 |
Description | Author affiliation: Sch. of Math. & Comput. Sci., Nanjing Normal Univ., Nanjing (Qingbao Zhu; Lingling Wang) |
Abstract | A new ant algorithm for robot path planning is presented according to the latest achievements of research on actual ants. In this algorithm, m scout ants collaborate with each other to search for an optimal or near-optimal path. Of m scout ants, n ants adopt nearest-neighbor search strategy and the left q=m-n ants adopt random search strategy. A section of optimal path will be found after all ants search L steps. Then m ants regard the end point of as the new starting point and search for L steps to find the next section of optimal path . Repeat this process until one of m ants reaches the goal. In this way, the path is consisted of h sections of path with step length L. Carry out the next generation search after step length L is modified, then repeat the searching course mentioned above. An optimal or near-optimal path will be found through comparison after multi-generation of searching. The simulation experiment results show that an optimal or near-optimal path can be planned even in environment with very complex obstacles, which can meet the requirements of real-time planning or navigation. The effect is quite satisfying. |
Starting Page | 444 |
Ending Page | 449 |
File Size | 689799 |
Page Count | 6 |
File Format | |
ISBN | 9780769533049 |
DOI | 10.1109/ICNC.2008.185 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2008-10-18 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Navigation Path planning Mathematics Mobile robots Orbital robotics Convergence Ant algorithm Robot kinematics Space technology Scout ant Collaboration Cooperation Meeting planning Mobile robot |
Content Type | Text |
Resource Type | Article |
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