Title

Target Attraction-Based Ant Colony Algorithm For Mobile Robots In Rescue Missions

Keywords

ACO; Ant colony optimization; Dynamic path planning; Robot rescue; Target attraction

Abstract

After an earthquake, the road conditions are usually unknown and hazardous, which poses a great challenge for mobile robots to plan paths and reach the goal position safely for rescue operations. This paper presents a target attraction-based ant colony (TAAC) algorithm for the dynamic path planning of mobile robots operated in rescue missions. The global information of the road map is deployed to establish a target attraction function so that the probability of selecting an optimal path to the goal node is improved and the probability of converging to a local minimum path is reduced. Simulation results show that the proposed TAAC algorithm has a better dynamic performance and a faster convergence speed, compared with the existing max-min ant system algorithm. Copyright © 2012 Inderscience Enterprises Ltd.

Publication Date

1-1-2012

Publication Title

International Journal of Modelling, Identification and Control

Volume

17

Issue

2

Number of Pages

133-142

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1504/IJMIC.2012.048920

Socpus ID

84866041293 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84866041293

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