Mobile Robot Path Planning using Multi-Objective Adaptive Ant Colony Optimization

Rajat Agrawal, Bharat Singh, Rajesh Kumar, Ankit Vijayvargiya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Path planning for a mobile robot is a vital task for navigating in a complex environment. However, the path planning problem is challenging because of its non-deterministic polynomial-time (NP) character. In this research, the authors have proposed the Multi-objective Adaptive Ant Colony Optimization for path planning of mobile robot in a static object environment on the grid. The heuristic information function in the conventional ant colony optimization is modified according to the A∗ algorithm, which helps in mitigating the slow convergence of the traditional algorithm. It is because the ants will choose the nodes which are closer to the goal position. Additionally, an objective function is formulated as a multiple objective problem by incorporating (a) Path length, (b) Safety factor, and (c) Energy consumption. Simulation results show that the proposed modification helps to achieve the optimal path in a quicker time i.e., 1.3 times faster than the traditional counterpart.

Original languageEnglish
Title of host publication10th IEEE International Conference on Power Electronics, Drives and Energy Systems, PEDES 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665455664
DOIs
Publication statusPublished - 2022
Externally publishedYes
Event10th IEEE International Conference on Power Electronics, Drives and Energy Systems, PEDES 2022 - Jaipur, India
Duration: 14 Dec 202217 Dec 2022

Publication series

Name10th IEEE International Conference on Power Electronics, Drives and Energy Systems, PEDES 2022

Conference

Conference10th IEEE International Conference on Power Electronics, Drives and Energy Systems, PEDES 2022
Country/TerritoryIndia
CityJaipur
Period14/12/2217/12/22

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Safety, Risk, Reliability and Quality

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