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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
Source PublicationADVANCES IN NATURAL COMPUTATION, PT 2
2006
Volume4222Pages:222-231
SubtypeArticle
AbstractThis 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 HeadingsScience & Technology ; Technology
WOS KeywordTIME OBSTACLE AVOIDANCE
Indexed ByISTP ; SCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS IDWOS:000241892100028
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9227
Collection09年以前成果
AffiliationChinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
Recommended Citation
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.
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