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.
| Original language | English |
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| Title of host publication | 2014 IEEE International Symposium on Circuits and Systems, ISCAS 2014 |
| Publisher | IEEE |
| Pages | 1038-1041 |
| Number of pages | 4 |
| ISBN (Print) | 9781479934324 |
| DOIs | |
| Publication status | Published - 1 Jan 2014 |
| Event | 2014 IEEE International Symposium on Circuits and Systems, ISCAS 2014 - Melbourne, VIC, Australia Duration: 1 Jun 2014 → 5 Jun 2014 |
Conference
| Conference | 2014 IEEE International Symposium on Circuits and Systems, ISCAS 2014 |
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| Country/Territory | Australia |
| City | Melbourne, VIC |
| Period | 1/06/14 → 5/06/14 |
Keywords
- ACO
- field-of-view
- mobile robots
- nonholonomic
- path planning
ASJC Scopus subject areas
- Electrical and Electronic Engineering