Swarm-based approach to path planning using honey bees mating algorithm and adaptive resonance theory (ART1)

Ćurković, Petar and Jerbić, Bojan and Stipančić, Tomislav (2012) Swarm-based approach to path planning using honey bees mating algorithm and adaptive resonance theory (ART1). = Swarm-based approach to path planning using honey bees mating algorithm and adaptive resonance theory (ART1). International Review of Automatic Control, 5 (5). pp. 624-629. ISSN 1974-6059. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. . Točan broj autora: 3.

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Official URL: https://www.bib.irb.hr/423291

Abstract

In this paper, we propose a novel trajectory planning method for a robot navigating in the workspace containing arbitrarily distributed obstacles. To generate the robot's trajectory, we developed an algorithm based on swarm intelligence concepts, to search valid and optimized trajectories in task space. The trajectories are optimized in terms of minimizing collisions and the total time elapsed. Additionally, we implement self-organizing neural architecture to robots' controller. Using ART neural network of type 1, the robot is able to explore the environment and learn continuously.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): mobile robot; path planning; self organization; swarm intelligence
Subjects: TECHNICAL SCIENCE
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: No
Indexed in Current Contents: No
Citations SCOPUS: 0 (26.03.2019.)
Date Deposited: 29 Apr 2015 11:46
Last Modified: 26 Mar 2019 14:12
URI: http://repozitorij.fsb.hr/id/eprint/3933

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