- Tytuł:
- An ACO Path Planner Using a FIS for Path Selection Adjusted with a Simple Tuning Algorithm
- Autorzy:
-
Porta-Garcia, M.
Montiel, O.
Sepulveda, R. - Tematy:
-
ant colony optimization
ACO
autonomous mobile robot
navigation
fuzzy logic
path planning - Pokaż więcej
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Powiązania:
- https://bibliotekanauki.pl/articles/384490.pdf Link otwiera się w nowym oknie
- Opis:
- This paper presents a path planner application for mobile robots based on Ant Colony Optimization (ACO). The selection of the optimal path relies in the criterion of a Fuzzy Inference System (FIS), which is adjusted using a Simple Tuning Algorithm (STA). The path planner can be executed in Mode I and Mode II. The first mode only works in the virtual environment of the interface, while Mode II embraces the wireless communication with a real robot; once the ACO algorithm finds the best route, the coordinates are sent to a mobile robot via Bluetooth communication; if the robot senses a new obstacle, the computer is notified and does a rerouting routine in order to avoid the obstacle and reach the goal. In other words, the application supports dynamic search spaces.
- Dostawca treści:
- Biblioteka Nauki
Artykuł