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Target attraction-based ant colony algorithm for mobile robots in rescue missions

Zhang, X and Peng, J and Hu, H and Lin, KC and Wang, J (2012) 'Target attraction-based ant colony algorithm for mobile robots in rescue missions.' International Journal of Modelling, Identification and Control, 17 (2). 133 - 142. ISSN 1746-6172

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Abstract

After an earthquake, the road conditions are usually unknown and hazardous, which poses a great challenge for mobile robots to plan paths and reach the goal position safely for rescue operations. This paper presents a target attraction-based ant colony (TAAC) algorithm for the dynamic path planning of mobile robots operated in rescue missions. The global information of the road map is deployed to establish a target attraction function so that the probability of selecting an optimal path to the goal node is improved and the probability of converging to a local minimum path is reduced. Simulation results show that the proposed TAAC algorithm has a better dynamic performance and a faster convergence speed, compared with the existing max-min ant system algorithm. Copyright © 2012 Inderscience Enterprises Ltd.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 10 Sep 2014 09:41
Last Modified: 23 Jun 2020 23:15
URI: http://repository.essex.ac.uk/id/eprint/9197

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