Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of a New Optimal Path Planning Algorithm for Mobile Robots Using the Ant Colony Optimization Method

개미 집단 최적화 기법을 이용한 이동 로봇 최적 경로 생성 알고리즘 개발

  • Ko, Jong-Hoon (Dept. of Information Engineering, Myong Ji University) ;
  • Kim, Joo-Min (Dept. of Information Engineering, Myong Ji University) ;
  • Kim, Dae-Won (Dept. of Information Engineering, Myong Ji University)
  • Published : 2009.07.14
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Abstract

In this paper proposes a new algorithm for path planning using the ant colony optimization algorithm. The proposed algorithm is a new hybrid algorithm that composes of the features of the ant colony algorithm method and the Maklink graph method. At first, paths are produced for a mobile robot in a static environment, and then, the midpoints of each obstacles nodes are found using the Maklink graph method. Finally, the shortest path is selected by the ant colony optimization algorithm.

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