TY - GEN
T1 - Multi-goal feasible path planning using ant colony optimization
AU - Englot, Brendan
AU - Hover, Franz
PY - 2011
Y1 - 2011
N2 - A new algorithm for solving multi-goal planning problems in the presence of obstacles is introduced. We extend ant colony optimization (ACO) from its well-known application, the traveling salesman problem (TSP), to that of multi-goal feasible path planning for inspection and surveillance applications. Specifically, the ant colony framework is combined with a sampling-based point-to-point planning algorithm; this is compared with two successful sampling-based multi-goal planning algorithms in an obstacle-filled two-dimensional environment. Total mission time, a function of computational cost and the duration of the planned mission, is used as a basis for comparison. In our application of interest, autonomous undewater inspections, the ACO algorithm is found to be the best-equipped for planning in minimum mission time, offering an interior point in the tradeoff between computational complexity and optimality.
AB - A new algorithm for solving multi-goal planning problems in the presence of obstacles is introduced. We extend ant colony optimization (ACO) from its well-known application, the traveling salesman problem (TSP), to that of multi-goal feasible path planning for inspection and surveillance applications. Specifically, the ant colony framework is combined with a sampling-based point-to-point planning algorithm; this is compared with two successful sampling-based multi-goal planning algorithms in an obstacle-filled two-dimensional environment. Total mission time, a function of computational cost and the duration of the planned mission, is used as a basis for comparison. In our application of interest, autonomous undewater inspections, the ACO algorithm is found to be the best-equipped for planning in minimum mission time, offering an interior point in the tradeoff between computational complexity and optimality.
UR - http://www.scopus.com/inward/record.url?scp=84871705921&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84871705921&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980555
DO - 10.1109/ICRA.2011.5980555
M3 - Conference contribution
AN - SCOPUS:84871705921
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2255
EP - 2260
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -