Global path planning of Multi-robot Fish based on adaptive ant colony algorithm in dynamic environment

DOI

10.2991/icreet-16.2017.14How to use a DOI?

Keywords

Adaptive ant colony algorithm, path planning, multi-robot fish

Abstract

Based on adaptive ant colony algorithm, this paper provides a global path planning for multi-robot fish in dynamic environment, so as to achieve better coordination between the robot fish by means of improving their path planning. The adaptive ant colony algorithm in combination with dynamic self-adapting adjust pheromone, can avoid local minimum and have good global search ability. It can effectively expand the search space and quickly find an optimal path to reach the destination. In the unknown obstacle environment which is rasterized, target nodes are generated via obstacle avoidance constraint and adjacent grid transition probability to complete the selection of each path. By many experiments in matlab, the results show that the method can let multi-robot fish avoid obstacles to reach the destination effectively in dynamic obstacle environment.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Cai Wen
AU  - Yansong Deng
PY  - 2017/03
DA  - 2017/03
TI  - Global path planning of Multi-robot Fish based on adaptive ant colony algorithm in dynamic environment
BT  - Proceedings of the 2016 4th International Conference on Renewable Energy and Environmental Technology (ICREET 2016)
PB  - Atlantis Press
SP  - 74
EP  - 78
SN  - 2352-5401
UR  - https://doi.org/10.2991/icreet-16.2017.14
DO  - 10.2991/icreet-16.2017.14
ID  - Wen2017/03
ER  -