Enhanced Ant Colony Optimization Algorithm for Global Path Planning of Mobile Robots

An enhanced ant colony optimization algorithm is proposed. The search deadlock is ruled out through modifying both initial environment pheromone and state transition probability. The roundabout of trajectory is improved by combining deterministic search with stochastic search. Experimental results s...

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Bibliographic Details
Published in2013 International Conference on Computational and Information Sciences pp. 698 - 701
Main Authors Zhiping Zhou, Yunfeng Nie, Gao Min
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
Algorithm design and analysis
Ant colony optimization
concave blocks
consistency of path
Educational institutions
Mobile robots
Optimization
Path planning
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Summary:An enhanced ant colony optimization algorithm is proposed. The search deadlock is ruled out through modifying both initial environment pheromone and state transition probability. The roundabout of trajectory is improved by combining deterministic search with stochastic search. Experimental results show that the new algorithm can provide desirable safety path under the complex situation, which contains dense obstacles or many concave blocks, as well as computational time can meet the requirement of practically applications.
DOI:10.1109/ICCIS.2013.189