대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2009년도 제40회 하계학술대회
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- Pages.1827_1828
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- 2009
개미 집단 최적화 기법을 이용한 이동 로봇 최적 경로 생성 알고리즘 개발
Development of a New Optimal Path Planning Algorithm for Mobile Robots Using the Ant Colony Optimization Method
- Ko, Jong-Hoon (Dept. of Information Engineering, Myong Ji University) ;
- Kim, Joo-Min (Dept. of Information Engineering, Myong Ji University) ;
- Kim, Dae-Won (Dept. of Information Engineering, Myong Ji University)
- 발행 : 2009.07.14
초록
In this paper proposes a new algorithm for path planning using the ant colony optimization algorithm. The proposed algorithm is a new hybrid algorithm that composes of the features of the ant colony algorithm method and the Maklink graph method. At first, paths are produced for a mobile robot in a static environment, and then, the midpoints of each obstacles nodes are found using the Maklink graph method. Finally, the shortest path is selected by the ant colony optimization algorithm.
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