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

Porta-Garcia M., Montiel O., Sepulveda R.

Journal of Automation Mobile Robotics and Intelligent Systems

2008

Vol. 2, No. 1

5-11

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.