Performance Evaluation of Robot Path Planning Using Hybrid TSP Based ACO

  • Ankita KhuranaEmail author
  • Sunil Kumar Khatri
  • Ajay Vikram Singh
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 955)


Path problem is a motivating theme in robotics framework/system these days. The relevant quantity of inspection had always been committed to this specific complex issue lately. This ant colony optimization calculation is an elective strategy only to tackle such a problematic situation. Every ant drops an amount of simulated pheromone at each node that the ant has just finished covering up. This specific pheromone fundamentally deviates the likelihood that the following ant winds up included to a specific network node. The proposed directs the ants to make a path line inclusive of all factors to reach the goal point. This paper purposes ant colony based approach which is useful in taking care of way arranging problem for self-sufficient automated (robotic) application.


Robot path planning Ant colony optimization (ACO) Traveling salesman problem (TSP) Dubin travelling salesman problem with neighborhood Asymmetric traveling salesman problem (ATSP) Path map (PM) 



Authors express their deep sense of gratitude to The Founder President of Amity University, Dr. Ashok K. Chauhan for his keen interest in promoting research at Amity University and have always been an inspiration for achieving great heights.


  1. 1.
    Sariff, N.B., Buniyamin, O.: Ant colony system for robot path planning in global static environment. In: Selected Topics in System Science and Simulation in Engineering, pp. 192–197. ISSN: 1792-507X, ISBN: 978-960-474-230-1Google Scholar
  2. 2.
    Klein, D.J., Schweikl, J., Isaacs, J.T., Hespanha, J.P.: On UAV routing protocols for sparse sensor data exfiltration. In: Proceedings of the American Control Conference, Baltimore, Maryland, USA, 30 June–2 July 2010, pp. 6494–6500Google Scholar
  3. 3.
    Bopardikar, S.D., Smith, S.L., Bullo, F., Hespanha, J.P.: Dynamic vehicle routing for translating demands: stability analysis and receding-horizon policies. IEEE Trans. Autom. Control 55, 2554–2569 (2010)MathSciNetCrossRefGoogle Scholar
  4. 4.
    Dubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79, 497–516 (1957)MathSciNetCrossRefGoogle Scholar
  5. 5.
    Boissonnat, J.D., Cerezo, A., Leblond, J.: Shortest paths of bounded curvature in the plane. J. Intell. Robot. Syst. 11, 5–20 (1994)CrossRefGoogle Scholar
  6. 6.
    Shkel, A.M., Lumelsky, V.: Classification of the Dubins set. Robot. Auton. Syst. 34, 179–202 (2001)CrossRefGoogle Scholar
  7. 7.
    Le Ny, J., Frazzoli, E., Feron, E.: The curvature-constrained traveling salesman problem for high point densities. In: Proceedings of the IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, 12–14 December 2007, pp. 5985–5990Google Scholar
  8. 8.
    Le Ny, J., Feron, E., Frazzoli, E.: On the curvature-constrained traveling salesman problem. IEEE Trans. Autom. Control (in press)Google Scholar
  9. 9.
    Savla, K., Frazzoli, E., Bullo, F.: Traveling salesperson problems for the Dubins vehicle. IEEE Trans. Autom. Control 53, 1378–1391 (2008)MathSciNetCrossRefGoogle Scholar
  10. 10.
    Ma, X., Castanon, D.: Receding horizon planning for Dubins traveling salesman problems. In: Proceedings of the IEEE Conference on Decision and Control, San Diego, California, USA, 13–15 December 2006, pp. 5453–5458Google Scholar
  11. 11.
    Rathinam, S., Sengupta, R., Darbha, S.: A resource allocation algorithm for multiple vehicle systems with non-holnomic constraints. IEEE Trans. Autom. Sci. Eng. 4, 98–104 (2007)CrossRefGoogle Scholar
  12. 12.
    Dumitrescu, A., Mitchell, J.S.B.: Approximation algorithms for TSP with neighborhoods in the plane. J. Algorithm 48, 135–159 (2003)MathSciNetCrossRefGoogle Scholar
  13. 13.
    Elbassioni, K., Fishkin, A.V., Mustafa, N.H., Sitters, R.: Approximation algorithms for euclidean group TSP. In: Proceedings of the International Colloquim on Automata, Languages and Programming, Lisbon, Portugal, 11–15 July 2005, pp. 1115–1126Google Scholar
  14. 14.
    Yuan, B., Orlowska, M., Sadiq, S.: On the optimal robot routing problem in wireless sensor networks. IEEE Trans. Knowl. Data Eng. 19, 1252–1261 (2007)CrossRefGoogle Scholar
  15. 15.
    Obermeyer, K.J.: Path planning for a UAV performing reconnaissance of static ground targets in terrain. In: Proceedings of the AIAA Conference on Guidance, Navigation, and Control, Chicago, Illinois, USA, 10–13 August 2009Google Scholar
  16. 16.
    Obermeyer, K.J., Oberlin, P., Darbha, S.: Sampling-based roadmap methods for a visual reconnaissance UAV. In: Proceedings of the AIAA Conference on Guidance, Navigation, and Control, Toronto, Ontario, Canada, 2–5 August 2010Google Scholar
  17. 17.
    Noon, C.E., Bean, J.C.: An efficient transformation of the generalized traveling salesman problem. Technical report 91–26. Department of Industrial and Operations Engineering, University of Michigan: Ann Arbor, MI, USA (1991)Google Scholar
  18. 18.
    Osipov, V., Sanders, P., Singler, J.: The Filter-Kruskal Minimum Spanning Tree Algorithm, pp. 52–61. Copyright © by SIAMGoogle Scholar
  19. 19.
    Hsiao Y.-T., Chuang C.-L., Chien C.-C.: Ant colony optimization for best path planning. In: Proceedings of the 1st International Symposium on Information and Communication Technologies, vol. 1, Sapporo, Japan, 26–29 October 2004, pp. 109–113 (2004)Google Scholar
  20. 20.
    Buniyamin, N., Sariff, N., Wan Ngah, W.A.J., Mohamad, Z.: Robot global path planning overview and a variation of ant colony system algorithm. Int. J. Math. Comput. Simul. 5(1), 9–16 (2011)Google Scholar
  21. 21.
    Mei, H., Tian, Y., Zu, L.: A hybrid ant colony optimization algorithm for path planning of robot in dynamic environment. Int. J. Inf. Technol. 12(3), 78–88 (2006)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Ankita Khurana
    • 1
    Email author
  • Sunil Kumar Khatri
    • 1
  • Ajay Vikram Singh
    • 1
  1. 1.Amity Institute of Information Technology (AIIT)Amity University Uttar Pradesh (AUUP)NoidaIndia

Personalised recommendations