Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/53658
Title: An ACO-based off-line path planner for nonholonomic mobile robots
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Keywords: ACO
Field-of-view
Mobile robots
Nonholonomic
Path planning
Issue Date: 2014
Publisher: Institute of Electrical and Electronics Engineers
Source: 2014 IEEE International Symposium on Circuits and Systems (ISCAS), Melbourne VIC, Australia, 1-5 June 2014, p. 1038-1041 How to cite?
Abstract: The path planning is an important issue as it allows a robot to get from a point to another. Such a path between two points has to be optimized based on user defined requirements and environmental conditions. Most of the existing solutions to path planning problem assume robots to be holonomic. However, ordinary mobile robots are kinematically constrained in practice. A novel solution has been proposed for the path planning problem based on existing ant colony optimization methods which can be realized with practical mobile robots with the aforementioned constraints. Simulation results show the applicability of the proposed path planner to the nonholonomic mobile robots. Performance of the proposed algorithm has been compared with its preceding version. The performance of the proposed path planner may be further improved by fine-tuning its parameters.
URI: http://hdl.handle.net/10397/53658
ISSN: 0271-4302
DOI: 10.1109/ISCAS.2014.6865316
Rights: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication Ganganath, N., Cheng, C. -., & Tse, C. K. (2014). An ACO-based off-line path planner for nonholonomic mobile robots. Paper presented at the Proceedings - IEEE International Symposium on Circuits and Systems, ISCAS 2014, 1038-1041 is available at 10.1109/ISCAS.2014.6865316
Appears in Collections:Conference Paper

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