Ant Colony System: A New Concept to Robot Path Planning

Abstract

A variation of Ant Colony System (ACS) is represented in this paper and applied for the Robot Path Planning (RPP) purpose. The algorithm shows a new way to find the shortest path from source to destination in offline mode with the application of in-build path map by following the Robot Path Algorithm (RPA), introduced in this paper. Robot always follow the path map provided to it to find the shortest path as well as it can achieve the knowledge that in which direction, i.e. from one node to the next node, it will have to move. The movement of the robots is based on the movent technique of the ants in the ant colony. Among all the algorithms for finding the shortest path, the proposed Shortest Path Algorithm (SPA), based on Kruskal algorithm, is much more effective and accurate for the RPP problem and will take less computational time and hence increase the efficiency of the work process of the robot system.

Ant Colony System: An Approach for the Design of a Single Database to Establish Any Node-to-node Connectivity for Robot Path Planning in a Robot Colony

“…Highest pheromone concentration means that most of the previous ants have visited or used the path that is the specific path is actually the most visited path. The pheromone is evaporated after sometime and if the total pheromone is evaporated, the trail is vanished [4,8,21,33,36]. The ant creates different paths with different probabilities to find the shortest path in between them.…”

“…In my two previous work [8,9], the path map have been designed which includes the general nodes and the junction nodes. The robot path map is designed to describe all the nodes and their locations [8].…”

“…The robot path map is designed to describe all the nodes and their locations [8]. The nodes are interconnected.…”

“…The ants travel on the searching path by placing the pheromone which is actually a hormone that have a specific smell that helps the rest ants to travel on the same way to food source or towards the hive [1,3,8,9]. The path of the robots in the robot colony can be designed with the similar concept with a suitable replacement of the pheromone concept such as the magnetic line or some other else.…”

“…The path of the robots in the robot colony can be designed with the similar concept with a suitable replacement of the pheromone concept such as the magnetic line or some other else. That is robot can move forward with help of connected path in between the source and destination node [5,8]. But there obviously a technique of finding the shortest in between two locations as because there is a probability for having different paths in between a source and the destination.…”