Incorporating perception radius to the line follower robot

摘要

Path planning is one of the most emerging problems for robot mobility in dynamic environment. In real time, the predefined path for robot may change due to real time problems like landslides, floods etc. hence causing obstacles in path. So an optimal technique is required to reroute the path in case of above mentioned scenarios. In this paper an attempt has been made to solve this problem using the modified Ant Colony Optimization (ACO) which has a special addition of PERCEPTION RADIUS feature. ACO is a Swarm based optimization technique and an effort has been made to investigate its application in dynamic rerouting of a line-follower. This might not provide the shortest path from source to destination; instead it provides the best optimal and available path in current situation of obstacles.