A method of trajectory planning for Ground Mobile Robot based on ant colony algorithm

Intelligent robot such as Unmanned Ground Mobile Robot or Vehicle is a kind of automatic equipment without a manual operation to complete the task. This paper presents a method of trajectory planning for intelligent robots based on the ant colony algorithm under an environment with obstacles. The ro...

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Bibliographic Details
Published in2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 2117 - 2121
Main Authors Xiangrong Xu, Yan Li, Yang Yang, Hao Xu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2016
Subjects
Algorithm design and analysis
Optimization
Planning
Robot kinematics
Trajectory
Unmanned aerial vehicles
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Summary:Intelligent robot such as Unmanned Ground Mobile Robot or Vehicle is a kind of automatic equipment without a manual operation to complete the task. This paper presents a method of trajectory planning for intelligent robots based on the ant colony algorithm under an environment with obstacles. The robot can autonomously avoid obstacles from the starting point to reach the target point during maneuver. The ant colony algorithm is an evolutionary algorithm that by simulating ants foraging in nature. By using ant colony algorithm, this paper gets an optimal or suboptimal motion trajectory and path from starting point to the target point in a static environment based on rasterization environment model.
DOI:10.1109/ROBIO.2016.7866642