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An Improved Ant-Driven Approach to Navigation and Map Building

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Advances in Swarm Intelligence (ICSI 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10385))

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Abstract

An improved ant-type approach, ant colony optimization (ACO) model, integrated with a heading direction scheme (HDS) to real-time collision-free navigation and mapping of an autonomous robot is proposed in this paper. The developed HDS-based ACO model for concurrent map building and safety-aware navigation is capable of remedying the shortcoming of risky distance from obstacles in combination with the Dynamic Window Approach (DWA) algorithm as a local navigator. Its effectiveness and efficiency of the developed real-time hybrid map building and safety-aware navigation of an autonomous robot have been successfully validated by simulated experiments and comparison studies.

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Detroit Mercy, Michigan, USA

    Chaomin Luo

  2. Department of Computer Science and Technology, Nanjing University, Nanjing, China

    Furao Shen

  3. Automation College, Harbin Engineering University, Harbin, China

    Hongwei Mo

  4. College of Information Engineering, Shanghai Maritime University, Shanghai, China

    Zhenzhong Chu

Authors
  1. Chaomin Luo
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  2. Furao Shen
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  3. Hongwei Mo
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  4. Zhenzhong Chu
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Corresponding author

Correspondence to Chaomin Luo .

Editor information

Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Kyushu University, Fukuoka, Japan

    Hideyuki Takagi

  3. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

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Luo, C., Shen, F., Mo, H., Chu, Z. (2017). An Improved Ant-Driven Approach to Navigation and Map Building. In: Tan, Y., Takagi, H., Shi, Y. (eds) Advances in Swarm Intelligence. ICSI 2017. Lecture Notes in Computer Science(), vol 10385. Springer, Cham. https://doi.org/10.1007/978-3-319-61824-1_33

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  • DOI: https://doi.org/10.1007/978-3-319-61824-1_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61823-4

  • Online ISBN: 978-3-319-61824-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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