FPGA implementation of improved ant colony optimization algorithm based on pheromone diffusion mechanism for path planning

Chen Chien Hsu*, Wei-Yen Wang, Yi Hsing Chien, Ru Yu Hou

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

4 引文 斯高帕斯(Scopus)

摘要

An improved ant colony optimization (ACO) algorithm is proposed in this paper for improving the accuracy of path planning. The main idea of this paper is to avoid local minima by continuously tuning a setting parameter and the establishment of novel mechanisms by means of partial pheromone updating and opposite pheromone updating. As a result, the global search of the proposed ACO algorithm can be significantly enhanced to derive an optimal path compared to the conventional ACO algorithm. The simulation results of the proposed approach perform better in terms of the short distance, mean distance, and success rate towards optimal paths. To further reduce the computation time, the proposed ACO algorithm for path planning is realized on a FPGA chip to verify its practicalities. Experimental results indicate that the efficiency of the path planning is considerably improved by the hardware design for embedded applications.

原文英語
頁(從 - 到)170-179
頁數10
期刊Journal of Marine Science and Technology (Taiwan)
26
發行號2
DOIs
出版狀態已發佈 - 2018

ASJC Scopus subject areas

  • 海洋學
  • 海洋工程
  • 材料力學
  • 機械工業

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