An ACO Path Planner Using a FIS for Path Selection Adjusted with a Simple Tuning Algorithm

• Autorzy: Porta-Garcia M. , Montiel O. , Sepulveda R.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a path planner application for mobile robots based on Ant Colony Optimization (ACO). The selection of the optimal path relies in the criterion of a Fuzzy Inference System (FIS), which is adjusted using a Simple Tuning Algorithm (STA). The path planner can be executed in Mode I and Mode II. The first mode only works in the virtual environment of the interface, while Mode II embraces the wireless communication with a real robot; once the ACO algorithm finds the best route, the coordinates are sent to a mobile robot via Bluetooth communication; if the robot senses a new obstacle, the computer is notified and does a rerouting routine in order to avoid the obstacle and reach the goal. In other words, the application supports dynamic search spaces.

Słowa kluczowe

EN

ant colony optimization; ACO; autonomous mobile robot; navigation; fuzzy logic; path planning

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 1
• Strony: 5--11
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Porta-Garcia M.

autor

Montiel O.

autor

Sepulveda R.

• CITEDI-IPN, Ave. del Parque 1310 Mesa de Otay, Tijuana B.C 22510,

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