Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm

2006 ◽  
Vol 13 (1) ◽  
pp. 80-86 ◽  
Author(s):  
Guan-zheng Tan ◽  
Huan He ◽  
Sloman Aaron
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Dijkstra Algorithm ◽  
Ant System ◽  
Optimal Path Planning ◽  
Ant System Algorithm ◽  
Global Optimal

Global Path Planning for Mobile Robot Based on Improved Ant Colony Algorithms

2013 ◽  
Vol 418 ◽  
pp. 15-19 ◽  
Author(s):  
Min Huang ◽  
Ping Ding ◽  
Jiao Xue Huan
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Ant Colony ◽  
Mobile Robot Navigation ◽  
Local Optimum ◽  
Planning Problem ◽  
Optimal Path Planning ◽  
Global Path Planning ◽  
Global Optimal

Global optimal path planning is always an important issue in mobile robot navigation. To avoid the limitation of local optimum and accelerate the convergence of the algorithm, a new robot global optimal path planning method is proposed in the paper. It adopts a new transition probability function which combines with the angle factor function and visibility function, and at the same time, sets penalty function by a new pheromone updating model to improve the accuracy of the route searching. The results of computer emulating experiments prove that the method presented is correct and effective, and it is better than the genetic algorithm and traditional ant colony algorithm for global path planning problem.

Optimal path planning with holonomic mobile robot using localization vision sensors

ICCAS 2010 ◽  
2010 ◽  
Author(s):  
G Dong Seok Lee ◽  
Kil Soo Lee ◽  
Hyung Gyu Park ◽  
Man Hyung Lee
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Vision Sensors ◽  
Holonomic Mobile Robot

Finding the Shortest Path for a Mobile Robot With Two Actuated Spoke Wheels Based on Variable Kinematic Configurations

2010 ◽  
Author(s):  
Ya Wang ◽  
Dennis Hong
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Shortest Path ◽  
Optimal Path ◽  
Curvature Radius ◽  
Planning Strategy ◽  
Optimal Path Planning ◽  
Path Geometry ◽  
Motion Characteristics ◽  
Motion Strategy

Strategies for finding the shortest path for a mobile robot with two actuated spoke wheels based on variable kinematic configurations are presented in this paper. The optimal path planning strategy proposed here integrate the traditional constrained path planning tools and the unique kinematic configuration spaces of the mobile robot IMPASS (Intelligent Mobility Platform with Actuated Spoke System). IMPASS utilizes a unique mobility concept of stretching in or out individually actuated spokes in order to perform variable curvature radius steering using changing kinematic configuration during its movement. Due to this unique motion strategy, various kinematic topologies produce specific motion characteristics in the way of curvature radius-variable steering. Instead of traditional differential drive or Ackerman steering locomotion, combinational path geometry methods, Dubins’ curve and Reeds and Shepp’s curve are applied to classify optimal paths into known permutations of sequences consisting of various kinematic configurations. Numerical simulation is given to verify the analytical solutions provided by using Lagrange Multiplier.

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