Title

Optimal Path Planning of Mobile Robot with Multiple Target Using Ant Colony Optimization

Abstract

In this paper, we present a path-planning algorithm for mobile robots in an environment with obstacles. We investigate the used of Ant Colony Optimization (ACO) for determining the optimal path for a wheeled mobile robot to visit multiple targets. THe environment in which the robot operates is modeled in the form of discrete cells and the robot is modeled as a point probot. The robot has knowledge about the targets' positions but has limited local sensing capability to sense obstacles. The paper investiages the use of multiple autonomous robots for solving the shortest path problem. ACO algorithm is used for dynamic planning of the path to avoid obstacles visit all the targets.

Department(s)

Engineering Management and Systems Engineering

Keywords and Phrases

Optimization; Path Planning; Robot Control

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2006 American Society of Mechanical Engineers (ASME), All rights reserved.

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