Abstract
In this article, the kinematics modeling for the practical robot and movement formula have been established, whose are considered by the feasibility and reliability of actual control, and controls the movement of mobile robot by the planning route, guides the robot to complete the mission. On the other hand, ant colony optimization algorithm is used to solve the robot path planning. Based on the original ant colony optimization algorithm, it modifies the route choice strategy and the pheromone updating strategy etc. according to the information provided by the global map and the mission to complete. And the experimental results on MATLAB are convinced the optimal path.
This work was supported by National High-tech R&D Program (863 Program), 2007AA04Z254, Tianjin Binhai New Area’s Construction Science and Technology Action Planning Project Supported by Chinese Academy of Sciences, TJZX2-YW-06, and the key project of Tianjin Science and Technology Planning, 08ZCKFSF03400.
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Cui, S., Xu, X., Zhao, L., Tian, L., Yang, G. (2009). Research on Mobile Robot’s Motion Control and Path Planning. In: Yu, W., He, H., Zhang, N. (eds) Advances in Neural Networks – ISNN 2009. ISNN 2009. Lecture Notes in Computer Science, vol 5553. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01513-7_22
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DOI: https://doi.org/10.1007/978-3-642-01513-7_22
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