On-line Path Planning Strategy Design of Multi-robot System Using Modified Artificial Bee Colony Algorithm
| Autor: | Jun-Hao Liang, 梁峻豪 |
|---|---|
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 100 Based on the artificial bee colony (ABC) algorithm, we propose the modified artificial bee colony (MABC) algorithm for solving optimization problem and apply it to the on-line path planning of multi-robots system by choosing proper objective function. The ABC motivated by the foraging behavior of bee colony .The colony consists of three kinds of bees, employed bees, onlooker bees, and scout bees. The MABC algorithm enhances the performance of ABC algorithm by using elite individuals for perserving good evolution, the solution sharing provides a proper direction for searching, the instant update strategy provides the newest inforamtion of solution, the cooperative strategy generates extra individuals for searching the solution. Finally, the population manager is proposed to adjust the population size. We use the MABC algorithm for solving on-line path planning of multi-robot system. At first, the on-line path planning based on objective values for Goal, obstacles avoidance, and robots avoidance. And then, the motion control to the planned neighborhood target is done by the PID-type neural network (PIDNN) controller. Simulation results are introduced to show the effectiveness and performance of the proposed approach. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|