Robot planning with artificial potential field guided ant colony optimization algorithm

	Robot planning with artificial potential field guided ant colony optimization algorithm
	Zhao, Dongbin; Yi, Jianqiang; Jiao, L; Wang, L; Gao, X; Liu, J; Wu, F
刊名	ADVANCES IN NATURAL COMPUTATION, PT 2
	2006
卷号	4222 页码:222-231
英文摘要	This paper investigates the problem of robot planning with ant colony optimization and artificial potential filed algorithms. Robot planning is to find a feasible path from a source to a goal while avoiding obstacles in configuration space. Artificial potential field (APF) is verified as an efficient method to find a path by following the maximum potential field gradient. But it suffers from the local minima. However, ant colony optimization (ACO) is characterized as powerful probabilistic search ability, which is thought to be fit for solving such local minima problems. By the combination of both merits, an APF guided ACO algorithm is proposed, which shows some good features in searching for the optimal path solution. The length optimal path solution can always be achieved with the proposed hybrid algorithm in different obstacles environment from simulation results.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods
研究领域[WOS]	Computer Science
关键词[WOS]	TIME OBSTACLE AVOIDANCE
收录类别	ISTP ; SCI
语种	英语
WOS记录号	WOS:000241892100028
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9227]
专题	自动化研究所_09年以前成果
作者单位	Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Dongbin,Yi, Jianqiang,Jiao, L,et al. Robot planning with artificial potential field guided ant colony optimization algorithm[J]. ADVANCES IN NATURAL COMPUTATION, PT 2,2006,4222:222-231.
APA	Zhao, Dongbin.,Yi, Jianqiang.,Jiao, L.,Wang, L.,Gao, X.,...&Wu, F.(2006).Robot planning with artificial potential field guided ant colony optimization algorithm.ADVANCES IN NATURAL COMPUTATION, PT 2,4222,222-231.
MLA	Zhao, Dongbin,et al."Robot planning with artificial potential field guided ant colony optimization algorithm".ADVANCES IN NATURAL COMPUTATION, PT 2 4222(2006):222-231.