|Table of Contents|

Path Planning for Robots Based on Ant Colony Algorithm under Dynamic Environment(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2006年03期
Page:
45-50
Research Field:
Publishing date:

Info

Title:
Path Planning for Robots Based on Ant Colony Algorithm under Dynamic Environment
Author(s):
XIE Yuanyuan~1; ZHU Qingbao~2
1.College of Software Engineering,Southeast University,Nanjing 210096,China;2.School of Mathematics and Computer Science,Nanjing Normal University,Nanjing 210097,China
Keywords:
robo t path p lann ing;  dynam ic env ironm ent;  g loba l path plann ing;  local planning for obstacle avo idance;  ant co lony a lgor ithm
PACS:
TP242
DOI:
-
Abstract:
Th is paper presents a new approach to robo t path planning under dynam ic env ironm ent. G rid m ethod is used to m ode l the w orkspace. The who le system includes tw o parts: the g lobal path plann ing and the loca l p lann ing for obstacle avo idance. In the g loba l path plann ing, an optim a l route to the goa l is found by ant co lony algor ithm s; in the loca l p lann ing for obstacle avo idance, wh ile fo llow ing the globa l path, several collision- free stra teg ies fo r different situations are used after the env ironment detection and collision pred iction based on rolling w indow s in o rder that the robo t reaches the goa l safe ly. The resu lts o f the sim ulation exper im ent ind icate tha t the proposed m ethod is feas-i b le.

References:

[ 1] 张捍东, 郑睿, 岑豫皖. 移动机器人路径规划技术的现状与展望[ J] . 系统仿真学报, 2005, 17( 2): 439-443.
ZHANG H andong, ZHENG Ru,i CEN Yuw an. Present situa tion and future deve lopm ent ofm obile robo t path p lann ing techno-l ogy[ J]. Acta S imu lata System atica S in ica, 2005, 17( 2): 439- 443. ( in Chinese)
[ 2]李磊, 叶涛, 谭民, 等. 移动机器人技术研究现状与未来[ J]. 机器人, 2002, 24( 5): 475-480.
LI Le ,i YE Tao, TAN M in, et a .l Present state and fu ture deve lopm en t of mob ile robot technology research [ J]. Robot, 2002, 24( 5): 475-480. ( in Chinese)
[ 3] 张纪会, 徐心和. 一种新的进化算法——蚁群算法[ J]. 系统工程理论与实践, 1999( 3) : 84-87.
ZHANG Jihu,i XU X inhe. A new evo lutionary algor ithm——ant co lony algor ithm [ J] . Sy stem s Eng inee ring-Theory and Practice, 1999( 3): 84-87. ( in Chinese)
[ 4] 席裕庚, 张纯刚. 一类动态不确定环境下机器人的滚动路径规划[ J]. 自动化学报, 2002, 28( 2): 161-175.
X IYug eng, ZHANG Chung ang. Ro lling path planning o fm obile robo t in a kind of dynam ic uncerta in env ironm ent[ J]. Acta Automa tica Sin ica, 2002, 28( 2) : 161-175. ( in Ch inese)

Memo

Memo:
-
Last Update: 2013-04-29