A 2-dimensional ACO-based path planner for off-line robot path planning

Nuwan Ganganath, Chi Tsun Cheng

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 Citations (Scopus)

Abstract

Wireless sensor networks are usually deployed in scenarios that are too hostile for human personnel to perform maintenance tasks. Wireless sensor nodes usually exchange information in a multi-hop manner. Connectivity is crucial to the performance of a wireless sensor network. In case a network is partitioned due to node failures, it is possible to re-connect the fragments by setting up bridges using mobile platforms. Given the landscape of a terrain, the mobile platforms should be able reach the target position using a desirable path. In this paper, an off-line robot path planner is proposed to find desirable paths between arbitrary points in a given terrain. The proposed path planner is based on ACO algorithms. Unlike ordinary ACO algorithms, the proposed path planner provides its artificial ants with extra flexibility in making routing decisions. Simulation results show that such enhancement can greatly improve the qualities of the paths obtained. Performances of the proposed path planner can be further optimized by fine-tuning its parameters.
Original languageEnglish
Title of host publicationProceedings - 2013 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2013
PublisherIEEE Computer Society
Pages302-307
Number of pages6
ISBN (Print)9780768551067
DOIs
Publication statusPublished - 1 Jan 2013
Event2013 5th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2013 - Beijing, China
Duration: 10 Oct 201312 Oct 2013

Conference

Conference2013 5th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2013
Country/TerritoryChina
CityBeijing
Period10/10/1312/10/13

Keywords

  • ACO
  • B-spline
  • Path planning
  • Resource management
  • Wireless sensor networks

ASJC Scopus subject areas

  • Software

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