Foraging ant motion planning for articulated robots

Mohd Murtadha Mohamad; Mathew Walter Dunnigan; Nicholas Taylor

doi:10.1109/SICE.2006.314876

Foraging ant motion planning for articulated robots

Mohd Murtadha Mohamad, Mathew Walter Dunnigan, Nicholas Taylor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes a new and simple motion planning method to find a path between start and goal configurations for an articulated robot using the foraging ant strategy, F-Ant. Observation by an ant looking from its current position to the target location will help to reduce the steps taken to get to the goal. While most of the previously developed algorithms such as the SBL-PRM planner depends on the size of the previously generated sampled set of configurations, the foraging ant motion planner samples new configurations in the neighbourhood of the last point. This will only generate the necessary configurations for building the path. The new planner has been tested and it managed to reduce the number of configurations generated to build a successful path. © 2006 ICASE.

Original language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	4285-4290
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2006.314876
Publication status	Published - 2006
Event	2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: 18 Oct 2006 → 21 Oct 2006

Conference

Conference	2006 SICE-ICASE International Joint Conference
Country/Territory	Korea, Republic of
City	Busan
Period	18/10/06 → 21/10/06

Keywords

Articulated robot
Foraging ant
Motion planning

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10.1109/SICE.2006.314876

Cite this

@inproceedings{b31b20ebc1af43ef9d0661b62a0c2bd3,

title = "Foraging ant motion planning for articulated robots",

abstract = "This paper describes a new and simple motion planning method to find a path between start and goal configurations for an articulated robot using the foraging ant strategy, F-Ant. Observation by an ant looking from its current position to the target location will help to reduce the steps taken to get to the goal. While most of the previously developed algorithms such as the SBL-PRM planner depends on the size of the previously generated sampled set of configurations, the foraging ant motion planner samples new configurations in the neighbourhood of the last point. This will only generate the necessary configurations for building the path. The new planner has been tested and it managed to reduce the number of configurations generated to build a successful path. {\textcopyright} 2006 ICASE.",

keywords = "Articulated robot, Foraging ant, Motion planning",

author = "Mohamad, {Mohd Murtadha} and Dunnigan, {Mathew Walter} and Nicholas Taylor",

year = "2006",

doi = "10.1109/SICE.2006.314876",

language = "English",

isbn = "8995003855",

pages = "4285--4290",

booktitle = "2006 SICE-ICASE International Joint Conference",

note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",

}

TY - GEN

T1 - Foraging ant motion planning for articulated robots

AU - Mohamad, Mohd Murtadha

AU - Dunnigan, Mathew Walter

AU - Taylor, Nicholas

PY - 2006

Y1 - 2006

N2 - This paper describes a new and simple motion planning method to find a path between start and goal configurations for an articulated robot using the foraging ant strategy, F-Ant. Observation by an ant looking from its current position to the target location will help to reduce the steps taken to get to the goal. While most of the previously developed algorithms such as the SBL-PRM planner depends on the size of the previously generated sampled set of configurations, the foraging ant motion planner samples new configurations in the neighbourhood of the last point. This will only generate the necessary configurations for building the path. The new planner has been tested and it managed to reduce the number of configurations generated to build a successful path. © 2006 ICASE.

AB - This paper describes a new and simple motion planning method to find a path between start and goal configurations for an articulated robot using the foraging ant strategy, F-Ant. Observation by an ant looking from its current position to the target location will help to reduce the steps taken to get to the goal. While most of the previously developed algorithms such as the SBL-PRM planner depends on the size of the previously generated sampled set of configurations, the foraging ant motion planner samples new configurations in the neighbourhood of the last point. This will only generate the necessary configurations for building the path. The new planner has been tested and it managed to reduce the number of configurations generated to build a successful path. © 2006 ICASE.

KW - Articulated robot

KW - Foraging ant

KW - Motion planning

U2 - 10.1109/SICE.2006.314876

DO - 10.1109/SICE.2006.314876

M3 - Conference contribution

SN - 8995003855

SN - 9788995003855

SP - 4285

EP - 4290

BT - 2006 SICE-ICASE International Joint Conference

T2 - 2006 SICE-ICASE International Joint Conference

Y2 - 18 October 2006 through 21 October 2006

ER -

Foraging ant motion planning for articulated robots

Abstract

Conference

Keywords

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