NDLI: Ant colony algorithm using endpoint approximation for robot path planning

Content Provider	IEEE Xplore Digital Library
Author	Pei-dong Wang Gong-you Tang Yang Li Xi-xin Yang
Copyright Year	2012
Description	Author affiliation: College of Information Science and Engineering, Ocean University of China, Qingdao, 266100 (Pei-dong Wang; Gong-you Tang; Yang Li; Xi-xin Yang)
Abstract	An ant colony algorithm using endpoint approximation is proposed for robot path planning under a unknown and static environment. In this algorithm the model of robot's workspace is established with grid method and fold-back iterating is used to search the aims. A heuristic factor based on the most pheromone in a moving direction range and a goal guiding function is used during the searching process. Meanwhile, two kinds of pheromone are used to guide ants. Furthermore, according to the features of the pheromone strewing in the grids and ants visiting grids, an endpoint approximation method is proposed to make the starting point and the end point gradually move towards each other in the iterative process in order to shorten the distance between the starting point and the end point and accelerate the speed of convergence. The simulation results demonstrate that the proposed algorithm has much high efficiency.
Starting Page	4960
Ending Page	4965
File Size	238682
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Algorithm design and analysis Gird method Approximation algorithms Path planning Approximation methods Mathematical model Robot Robots Ant colony algorithm Convergence
Content Type	Text
Resource Type	Article

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