IROS 2015 Paper Abstract


Paper ThAP.3

Li, Yan (Anhui University of Technology), Xu, Xiangrong (Anhui University of Technology), Shan, Jianhua (Anhui University of Technology), Xu, Hao (Anhui University of Technology)

A Method of Trajectory Planning for Unmanned Ground Vehicle Based on Ant Colony Algorithm

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:00−09:15, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Path Planning for Mobile Robots or Agents, Motion and Path Planning, Unmanned Aerial Systems


Intelligent robot such as Unmanned Ground Mobile Robot or Vehicle is a kind of automatic equipment without manual operation to complete the task. This paper presents a method of trajectory planning for intelligent robots based on the ant colony algorithm under an environment with obstacles. The robot can automatically avoid obstacles from the starting point to reach the target point during manoeuvre. The ant colony algorithm is an evolutionary algorithm that by simulating ants foraging in the nature. Based on rasterisation environment model and by using ant colony algorithm, this paper can get an optimal or suboptimal motion trajectory and path from starting point to the target point in a static environment.



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