Foraging ant motion planning for articulated robots

Mohd Murtadha Mohamad, Mathew Walter Dunnigan, Nicholas Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 18 Oct 200621 Oct 2006


Conference2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Articulated robot
  • Foraging ant
  • Motion planning


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