An Improved Ant Colony System for Inspection Path Planning Problem and Convergence Analysis

2013 ◽  
Vol 483 ◽  
pp. 611-614
Author(s):  
Wen Bo Wang
Keyword(s):  
Path Planning ◽  
Convergence Analysis ◽  
Ant Colony Algorithm ◽  
Step Function ◽  
Ant Colony ◽  
Ant Colony System ◽  
Planning Problem ◽  
Path Planning Problem

The ant colony algorithm to solve the inspection path planning problem well. The algorithm runs in the different requirements of path and the convergence of the step function q0. The concentration of pheromone bounds, prevent the algorithm premature. To improve the convergence of the proposed algorithm are analyzed and tested by means of experiment.

scholarly journals An Improved Ant Colony Algorithm for Solving the Path Planning Problem of the Omnidirectional Mobile Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Jiang Zhao ◽  
Dingding Cheng ◽  
Chongqing Hao
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Selection Strategy ◽  
Planning Problem ◽  
Evaporation Coefficient ◽  
Mobile Vehicle ◽  
Starting Point ◽  
Path Planning Problem ◽  
Improved Ant Colony Algorithm

This paper presents an improved ant colony algorithm for the path planning of the omnidirectional mobile vehicle. The purpose of the improved ant colony algorithm is to design an appropriate route to connect the starting point and ending point of the environment with obstacles. Ant colony algorithm, which is used to solve the path planning problem, is improved according to the characteristics of the omnidirectional mobile vehicle. And in the improved algorithm, the nonuniform distribution of the initial pheromone and the selection strategy with direction play a very positive role in the path search. The coverage and updating strategy of pheromone is introduced to avoid repeated search reducing the effect of the number of ants on the performance of the algorithm. In addition, the pheromone evaporation coefficient is segmented and adjusted, which can effectively balance the convergence speed and search ability. Finally, this paper provides a theoretical basis for the improved ant colony algorithm by strict mathematical derivation, and some numerical simulations are also given to illustrate the effectiveness of the theoretical results.

Robot Path Planning by Generalized Ant Colony Algorithm

2014 ◽  
Vol 494-495 ◽  
pp. 1229-1232 ◽  
Author(s):  
Dai Yuan Zhang ◽  
Peng Fu
Keyword(s):  
Path Planning ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Convergence Time ◽  
Planning Problem ◽  
Robot Path Planning ◽  
Definition Of ◽  
Update Strategy ◽  
Path Planning Problem ◽  
Robot Path

For the problem that the searching speed of traditional ant colony algorithm in robot path planning problem is slow, this paper will solve this problem with generalized ant colony algorithm. Generalized ant colony algorithm extends the definition of ant colony algorithm and does more general research for ant colony algorithm. Functional update strategy replaces the parametric algorithm update strategy; it accelerates the convergence speed of ant colony algorithm. Applying the generalized ant colony algorithm to robot path planning problem can improve the searching speed of robots and reduce the cost of convergence time.

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