Ant colony system for robot path planning in global static environment

Authors:
Nohaidda Binti Sariff;Norlida Buniyamin
Affiliations:
Faculty of Electrical Engineering, University Teknologi MARA, Shah Alam, Selangor, Malaysia;Faculty of Electrical Engineering, University Teknologi MARA, Shah Alam, Selangor, Malaysia
Venue:
ICOSSSE'10 Proceedings of the 9th WSEAS international conference on System science and simulation in engineering
Year:
2010

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Abstract

This paper presents a variation of Ant Colony System (ACS) algorithm utilized for Robot Path Planning (RPP) purposes. An accurate representation of heuristic and visibility equation of state transition rules is proposed to sustain the function of Ant Colony System (ACS) for solving RPP problem of finding the optimal path. This algorithm was applied within a global static map that consists of feasible free space nodes. The performance of algorithms in terms of computation time and number of iteration required to obtain an optimal path were evaluated by using a simulation approach. The results were discussed thoroughly and compared with other evolutionary approaches to verify the effectiveness of the proposed ACS.