대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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개미 집단 최적화 기법을 이용한 이동로봇 최적 경로 생성 알고리즘 개발

DEVELOPMENT OF A NEW OPTIMAL PATH PLANNING ALGORITHM FOR MOBILE ROBOTS USING THE ANT COLONY OPTIMIZATION METHOD

  • 이준오 (명지대학교, 정보공학과) ;
  • 고종훈 (명지대학교, 정보공학과) ;
  • 김대원 (명지대학교, 정보공학과)
  • Lee, Jun-Oh (Dept. of Information Engineering, Myong Ji University) ;
  • Ko, Jong-Hoon (Dept. of Information Engineering, Myong Ji University) ;
  • Kim, Dae-Won (Dept. of Information Engineering, Myong Ji University)
  • 발행 : 2007.10.26
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초록

This paper proposes a new algorithm for path planning and obstacles avoidance using the ant colony optimization algorithm. The proposed algorithm is a new hybrid algorithm that composes of the ant colony algorithm method and the Maklink graph method. At first, we produce the path of a mobile robot a the static environment. And then we find midpoints of each path using the Maklink graph. Finally the ant colony optimization algorithm is adopted to get a shortest path. In this paper, we prove the performance of the proposed algorithm is better than that of the Dijkstra algorithm through simulation.

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