Publication:
Mobile Robot Path Planning in Complex Environments Using Ant Colony Optimization Algorithm
Mobile Robot Path Planning in Complex Environments Using Ant Colony Optimization Algorithm
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Date
2017
Authors
Uriol, R
Moran, A
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Publisher
International Conference on Control, Automation and Robotics (ICCAR)
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Abstract
Ant Colony Optimization (ACO) algorithm has been applied to solve the path planning problem of mobile robot in complex environments. The algorithm parameters have been analysed and tuned for different working areas with obstacles in different number, sizes and shapes. Also, the performance of ACO algorithm was tested for different resolutions of working area representations. In all cases, it was possible to find optimal or near-optimal minimum-length paths from the initial to final desired positions without collision with obstacles or wall-borders.
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Keywords
path planning,
ant colony optimization,
mobile robots