Research on Six Degree of Freedom Robot Trajectory Planning Method Based on Improved Ant Colony Algorithm

2021 ◽  
Author(s):  
Wang Jisen
Keyword(s):  
Trajectory Planning ◽  
Ant Colony Algorithm ◽  
Degree Of Freedom ◽  
Planning Method ◽  
Ant Colony ◽  
Robot Trajectory ◽  
Six Degree Of Freedom ◽  
Improved Ant Colony Algorithm ◽  
Robot Trajectory Planning

Global Path Planning Method for USV System Based on Improved Ant Colony Algorithm

2014 ◽  
Vol 568-570 ◽  
pp. 785-788 ◽  
Author(s):  
Chang Hui Song
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Main Idea ◽  
Planning Method ◽  
Ant Colony ◽  
Grid Environment ◽  
Environment Model ◽  
Global Path Planning ◽  
The Right ◽  
Improved Ant Colony Algorithm

An improved ant colony algorithm based grid environment model for global path planning method for USV was introduced. The main idea of the improved ant colony algorithm was distributing each ant route dynamically. When the active ant was selecting the next route, this algorithm program determined the nearest direction to the end point. There were many possible route points which were distributed artificially. Thereby, the probability for each ant to choose the right direction was increased. The simulating results demonstrate that the improved ant colony algorithm in this paper is very suitable for solving the question of global path planning for USV system in the complex oceanic environment where there are a lot of obstacles. At the same time, this method costs less time, and the path is very smooth.

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