Multi-goal feasible path planning using ant colony optimization

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 2255-2260

  Englot, Brendan ^a   Hover, Franz ^a  

^a Massachusetts Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACO ALGORITHMS; ANT COLONIES; ANT COLONY OPTIMIZATION (ACO); COMPUTATIONAL COSTS; INSPECTION AND SURVEILLANCE; INTERIOR POINT; OPTIMALITY; PLANNED MISSIONS; PLANNING ALGORITHMS; PLANNING PROBLEM; SAMPLING-BASED;

ARTIFICIAL INTELLIGENCE; MOTION PLANNING; ROBOTICS; TRAVELING SALESMAN PROBLEM;

ALGORITHMS;

EID: 84871705921     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980555     Document Type: Conference Paper

References (23)

1. K. Easton and J. Burdick, "A Coverage Algorithm for Multi-robot Boundary Inspection," Proc. IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain, 2005, pp. 727-734.
2. L. Xu and T. Stentz, "A Fast Traversal Heuristic and Optimal Algorithm for Effective Environmental Coverage," Proc. Robotics: Science and Systems Conference, Zaragoza, Spain, 2010.
3. B. Englot and F. Hover, "Inspection Planning for Sensor Coverage of 3D Marine Structures", Proc. IEEE Int. Conf. on Intelligents Robots and Systems, Taipei, Taiwan, 2010.
4. T. Danner and L. Kavraki, "Randomized Planning for Short Inspection Paths," Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 971-976.
5. P. Wang, R. Krishnamurti, and K. Gupta, "View Planning Problem with Combined View and Traveling Cost," Proc. IEEE Int. Conf. on Robotics and Automation, Rome, 2007, pp. 711-716.
6. M. Saha, G. Sanchez-Ante, T. Roughgarden, and J.C. Latombe, "Planning Tours of Robotic Arms Among Partitioned Goals," Int. J. Robotics Research, vol. 25(3), 2006, pp. 207-223.
7. C. Wurll, D. Henrich, and H. Worn, "Multi-Goal Path Planning for Industrial Robots," Proc. Int. Conf. on Robotics and Applications, Santa Barbara, CA, 1999.
8. S. Spitz and A. Requicha, "Multiple-Goals Path Planning for Coordinate Measuring Machines," Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000, pp. 2322-2327.
9. K. Savla, F. Bullo, and E. Frazzoli, "On Traveling Salesperson Problems for a Double Integrator," Proc. IEEE Conf. on Decision and Control, San Diego, CA, pp. 5305-5310.
10. K. Savla, F. Bullo, and E. Frazzoli, "Traveling Salesperson Problems for the Dubins Vehicle," IEEE. Trans. Automatic Control, vol. 53(6), 2008, pp. 1378-1391.
11. M. Dorigo and T. Stutzle, Ant Colony Optimization, MIT Press, Cambridge, MA, 2004.
12. M. Dorigo and L. Gambardella, "Ant Colony System: A Cooperative Learning Approach to the Traveling Salesman Problem," IEEE. Trans. Evolutionary Computation, vol. 1(1), 1997, pp. 53-66.
13. S. Koenig and Y. Liu, "Terrain Coverage with Ant Robots: A Simulation Study," Proc. Fifth Int. Conf. on Autonomous Agents, Montreal, Canada, 2001, pp. 600-607.
14. A. Agarwal, M. Lim, M. Er, C. Chew, "ACO for a New TSP in Region Coverage," Proc. IEEE Int. Conf. on Intelligent Robots and Systems, Edmonton, Canada, 2005, pp. 1717-1722.
15. M. Mohamad, N. Taylor, and M. Dunnigan, "Articulated Robot Motion Planning Using Ant Colony Optimisation," Proc. IEEE Int. Conf. on Intelligent Systems, London, 2006, pp. 690-695.
16. S. Liu, L. Mao, and J. Yu, "Path Planning Based on Ant Colony Algorithm and Distributed Local Navigation for Multi-Robot Systems," Proc. IEEE Int. Conf. on Mechatronics and Automation, Luoyang, China, 2006, pp. 1733-1738.
17. M. Garcia, O. Montiel, O. Castillo, R. Sepulveda, and P. Melin, "Path Planning for Autonomous Mobile Robot Navigation with Ant Colony Optimization and Fuzzy Cost Function Evalutation," Applied Soft Computing, vol. 9, 2009, pp. 1102-1110.
18. T. Krenzke, Ant Colony Optimization for Agile Motion Planning, Masters Thesis, Massachusetts Institute of Technology, 2006.
19. A. Kulatunga, D. Liu, G. Dissanayake, and S. Siyambalapitiya, "Ant Colony Optimization Based Simultaneous Task Allocation and Path Planning of Autonomous Vehicles," Proc. IEEE Conf. on Cybernetics and Intelligent Systems, Bangkok, 2006, pp. 1-6.
20. F. Hover, et al., "A Vehicle System for Autonomous Relative Survey of In-Water Ships," Marine Technology Society Journal, vol. 41(2), 2007, pp. 44-55.
21. S. Lavalle and J. Kuffner, "Rapidly-Exploring Random Trees: Progress and Prospects," Proc. Workshop on the Algorithmic Foundations of Robotics, 2000, pp. 293-308.
22. L. Kavraki, P. Svestka, J.C. Latombe, and M. Overmars, "Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces," IEEE Trans. on Robotics and Automation, vol. 12(4), 1996, pp. 566-580.
23. N. Christofides, "Worst-case Analysis of a New Heuristic for the Traveling Salesman Problem," Technical Report CS-93-13, Carnegie Mellon University, 1976.