Ant Colony Robot Motion Planning

摘要

A new approach to robot motion planning is proposed by applying ant colony optimization with the probabilistic roadmap planner (PRM). The PRM is a path planning method that consists of capturing the connectivity of the robot's free space in a network called the roadmap. An ant colony robot motion planning (ACRMP) method is proposed that takes the benefit of collective behaviour of ants foraging from a nest to a food source. Two groups of ants are placed at both the nest and food source respectively. A number of ants (agents) are released from the nest (start configuration) and begin to forage (search) towards the food (goal configuration). Each ant has a certain quantity of pheromone to be dropped along the path. The ants track down the pheromone trails previously dropped by the nest's ants to accomplish the path between the two points of nest and food respectively. Results from preliminary tests show that the ACRMP is capable of reducing the intermediate configuration between the initial and goal configuration in an acceptable running time