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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 |
Issue Date: | 2014 | Source: | 2014 IEEE International Symposium on Circuits and Systems (ISCAS), Melbourne VIC, Australia, 1-5 June 2014, p. 1038-1041 | 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. | Keywords: | ACO Field-of-view Mobile robots Nonholonomic Path planning |
Publisher: | Institute of Electrical and Electronics Engineers | 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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| Ganganath_ACO_based_off.pdf | Pre-published version | 225.05 kB | Adobe PDF | View/Open |
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