Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

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

ACO와 PSO 기법을 이용한 이동로봇 최적화 경로 생성 알고리즘 개발

  • 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)
  • 이준오 (명지대학교, 정보공학과) ;
  • 고종훈 (명지대학교, 정보공학과) ;
  • 김대원 (명지대학교, 정보공학과)
  • Published : 2008.04.25
Download PDF
⟨ Previous Next ⟩

Abstract

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

Keywords