Development of path planning algorithm using probabilistic roadmap based on ant colony optimization

المؤلفون المشاركون

Rahim, Firas Abd al-Razzaq
Abd al-Karim, Muhammad Isamil

المصدر

Engineering and Technology Journal

العدد

المجلد 38، العدد 3A (31 مارس/آذار 2020)، ص ص. 343-351، 9ص.

الناشر

الجامعة التكنولوجية

تاريخ النشر

2020-03-31

دولة النشر

العراق

عدد الصفحات

9

التخصصات الرئيسية

العلوم الهندسية و تكنولوجيا المعلومات

الملخص EN

n this paper, a unique combination among probabilistic roadmap, ant colony optimization, and third order B-spline curve has been proposed to solve path-planning problem in complex and very complex environments.

This proposed method can be divided into three stages.

First stage is to construct a random map depending on the environment complexity using probabilistic roadmap algorithm.

This could be done by sampling N nodes randomly in complex and very complex static environments, then connecting these nodes together according to some criteria or conditions.

The constructed roadmap contains huge number of possible random paths that may connect the start and the goal points together.

Second stage includes finding path within the pre-constructed roadmap.

Ant colony optimization is selected to find or to search the best path between start and goal points.

Finally, the third stage uses B-spline curve to smooth and reduce total length of the found path in the previous stage where path’s length has been reduced by 1% in first environment and by 15% in second environment.

The results of the proposed approach ensure feasible path between start and goal points in complex and very complex environment.

In addition, the path is guaranteed to be shortest, smooth, continues and safe.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Abd al-Karim, Muhammad Isamil& Rahim, Firas Abd al-Razzaq. 2020. Development of path planning algorithm using probabilistic roadmap based on ant colony optimization. Engineering and Technology Journal،Vol. 38, no. 3A, pp.343-351.
https://search.emarefa.net/detail/BIM-948643

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Abd al-Karim, Muhammad Isamil& Rahim, Firas Abd al-Razzaq. Development of path planning algorithm using probabilistic roadmap based on ant colony optimization. Engineering and Technology Journal Vol. 38, no. 3A (2020), pp.343-351.
https://search.emarefa.net/detail/BIM-948643

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Abd al-Karim, Muhammad Isamil& Rahim, Firas Abd al-Razzaq. Development of path planning algorithm using probabilistic roadmap based on ant colony optimization. Engineering and Technology Journal. 2020. Vol. 38, no. 3A, pp.343-351.
https://search.emarefa.net/detail/BIM-948643

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references : p. 351

رقم السجل

BIM-948643