TY - GEN
T1 - Path planning for mobile robots based on improved ant colony optimization
AU - Hsu, Chen Chien
AU - Hou, Ru Yu
AU - Wang, Wei Yen
PY - 2013
Y1 - 2013
N2 - Although traditional ant colony system (ACS) has the ability of fast convergence, it tends to find local optima. To solve this problem, this paper proposes an improved ant colony system algorithm for path planning of mobile robots by considering two main aspects, including continuous tuning of a setting parameter and the establishment of new mechanisms for pheromone updating. As a result, the ability of global searching of the improved ACS can be significantly enhanced in comparison to the traditional ACS algorithms in deriving an optimal path for mobile robots. Simulation results show the proposed approach has a better performance in terms of shortest distance, mean distance, and successful rate of the optimal paths than those obtained by the traditional ACS algorithms.
AB - Although traditional ant colony system (ACS) has the ability of fast convergence, it tends to find local optima. To solve this problem, this paper proposes an improved ant colony system algorithm for path planning of mobile robots by considering two main aspects, including continuous tuning of a setting parameter and the establishment of new mechanisms for pheromone updating. As a result, the ability of global searching of the improved ACS can be significantly enhanced in comparison to the traditional ACS algorithms in deriving an optimal path for mobile robots. Simulation results show the proposed approach has a better performance in terms of shortest distance, mean distance, and successful rate of the optimal paths than those obtained by the traditional ACS algorithms.
KW - Ant colony optimization
KW - Mobile robot
KW - Navigation
KW - Path planning
UR - http://www.scopus.com/inward/record.url?scp=84893560088&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893560088&partnerID=8YFLogxK
U2 - 10.1109/SMC.2013.474
DO - 10.1109/SMC.2013.474
M3 - Conference contribution
AN - SCOPUS:84893560088
SN - 9780769551548
T3 - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
SP - 2777
EP - 2782
BT - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
T2 - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Y2 - 13 October 2013 through 16 October 2013
ER -