Articulated Robot Motion Planning Using Ant Colony Optimisation

  title={Articulated Robot Motion Planning Using Ant Colony Optimisation},
  author={M. M. Mohamad and N. Taylor and M. W. Dunnigan},
  journal={2006 3rd International IEEE Conference Intelligent Systems},
A new approach to robot motion planning is proposed by applying ant colony optimization (ACO) with the probabilistic roadmap planner (PRM). The aim of this approach is to apply ACO to 3-dimensional robot motion planning which is complicated when involving mobile 6-dof or multiple articulated robots. An ant colony robot motion planning (ACRMP) method is proposed that has the benefit of collective behaviour of ants foraging from a nest to a food source. A number of artificial ants are released… CONTINUE READING
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