Anytime ant system for manipulator path planning

Wang, D; Kwok, NM; Fang, G; Ha, QP

Anytime ant system for manipulator path planning

Wang, D Kwok, NM Fang, G Ha, QP

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Publication Type:: Conference Proceeding
Citation:: Lecture Notes in Electrical Engineering, 2011, 88 LNEE pp. 411 - 420
Issue Date:: 2011-05-13

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Field	Value	Language
dc.contributor.author	Wang, D	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Fang, G	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2011-05-13	en_US
dc.identifier.citation	Lecture Notes in Electrical Engineering, 2011, 88 LNEE pp. 411 - 420	en_US
dc.identifier.isbn	9783642199585	en_US
dc.identifier.issn	1876-1100	en_US
dc.identifier.uri	http://hdl.handle.net/10453/19084
dc.description.abstract	An efficient algorithm for manipulator path planning is presented in this paper. Because of the complexity of the problem nature, it frequently takes a long time for the planner to find an optimal path. This drawback may hinder a robotic manipulator system from many real-time applications. In this research work, the concept of anytime algorithm is integrated into a novel swarm intelligence method, the Ant System with Negative Feedback (ASNF). With the proposed Anytime Ant System (AAS), a planner is able to find a suboptimal solution quickly, then improve the quality of this solution while time allows. Simulations based on a two-link manipulator have been carried out to demonstrate the feasibility and effectiveness of the proposed approach. © 2011 Springer-Verlag Berlin Heidelberg.	en_US
dc.relation.ispartof	Lecture Notes in Electrical Engineering	en_US
dc.relation.isbasedon	10.1007/978-3-642-19959-2_50	en_US
dc.title	Anytime ant system for manipulator path planning	en_US
dc.type	Conference Proceeding
utslib.citation.volume	88 LNEE	en_US
utslib.for	080201 Analysis of Algorithms and Complexity	en_US
dc.location.activity	Shanghai, China	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	88 LNEE	en_US

Abstract:

An efficient algorithm for manipulator path planning is presented in this paper. Because of the complexity of the problem nature, it frequently takes a long time for the planner to find an optimal path. This drawback may hinder a robotic manipulator system from many real-time applications. In this research work, the concept of anytime algorithm is integrated into a novel swarm intelligence method, the Ant System with Negative Feedback (ASNF). With the proposed Anytime Ant System (AAS), a planner is able to find a suboptimal solution quickly, then improve the quality of this solution while time allows. Simulations based on a two-link manipulator have been carried out to demonstrate the feasibility and effectiveness of the proposed approach. © 2011 Springer-Verlag Berlin Heidelberg.

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http://hdl.handle.net/10453/19084