TY - GEN
T1 - Comparison between heterogeneous ant colony optimization algorithm and Genetic Algorithm for global path planning of mobile robot
AU - Lee, Joon Woo
AU - Choi, Byoung Suk
AU - Park, Kyoung Taik
AU - Lee, Ju Jang
PY - 2011
Y1 - 2011
N2 - We proposed a novel ACO algorithm to solve the global path planning problems in the previous paper, called Heterogeneous ACO (HACO) algorithm. In this paper, we compare the performance of HACO algorithm with the modified Genetic Algorithm (GA) for global path planning. The HACO algorithm differs from the Conventional ACO (CACO) algorithm for the path planning in three respects. First, we proposed modified Transition Probability Function (TPF) and Pheromone Update Rule (PUR). Second, we newly introduced the Path Crossover (PC) in the PUR. Finally, we also proposed the first introduction of the heterogeneous ants in the ACO algorithm. We apply the proposed HACO algorithm and modified GA to the general global path planning problems and compare the performance of these through the computer simulation.
AB - We proposed a novel ACO algorithm to solve the global path planning problems in the previous paper, called Heterogeneous ACO (HACO) algorithm. In this paper, we compare the performance of HACO algorithm with the modified Genetic Algorithm (GA) for global path planning. The HACO algorithm differs from the Conventional ACO (CACO) algorithm for the path planning in three respects. First, we proposed modified Transition Probability Function (TPF) and Pheromone Update Rule (PUR). Second, we newly introduced the Path Crossover (PC) in the PUR. Finally, we also proposed the first introduction of the heterogeneous ants in the ACO algorithm. We apply the proposed HACO algorithm and modified GA to the general global path planning problems and compare the performance of these through the computer simulation.
UR - http://www.scopus.com/inward/record.url?scp=80052853685&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2011.5984275
DO - 10.1109/ISIE.2011.5984275
M3 - Conference contribution
AN - SCOPUS:80052853685
SN - 9781424493128
T3 - Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
SP - 881
EP - 886
BT - Proceedings - ISIE 2011
T2 - 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
Y2 - 27 June 2011 through 30 June 2011
ER -