Swarm Intelligence: Ant-Based Robot Path Planning

  • Authors:

  • Jing Zhou;Guan-Zhong Dai;De-Quan He;Jun Ma;Xiao-Yan Cai

  • Affiliations:

  • -;-;-;-;-

  • Venue:
  • IAS '09 Proceedings of the 2009 Fifth International Conference on Information Assurance and Security - Volume 01
  • Year:
  • 2009

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Abstract

In this paper we proposed a novel algorithm Ant-based Robot Path Planning (ARPP) based on Ant Colony System (ACS) to mimic a swarm of ants to find the globally optimal path for autonomous mobile robots. Visibility graph was used as both the roadmap and construction graph in ARPP. Although the near-optimums were readily available by ARPP, it is hard to find the optimality; therefore we proposed the special ARPP (S-ARPP) algorithm as its supplement. Experimental results show S-ARPP outperforms ARPP for higher qualities of the global-best path it found, and a flexible trade-off between satisfactory solutions and the number of iterations was also easily available to meet the certain needs.