Skip to main content
Erschienen in: Wireless Personal Communications 2/2018

13.02.2018

Off-road Path Planning Based on Improved Ant Colony Algorithm

verfasst von: Han Wang, Hongjun Zhang, Kun Wang, Chen Zhang, Chengxiang Yin, Xingdang Kang

Erschienen in: Wireless Personal Communications | Ausgabe 2/2018

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Optimal vehicle off-road path planning problem must consider surface physical properties of terrain and soil. In this paper, we firstly analyse the comprehensive influence of terrain slope and soil strength to vehicle’s off-road trafficability. Given off-road area, the GO or NO-GO tabu table of terrain gird is determined by slope angle and soil remolding cone index (RCI). By applying tabu table and grid weight table, the influence of terrain slope and soil RCI are coordinated to reduce the search scope of algorithm and improve search efficiency. Simulation results based on tracked vehicle M1A1 in off-road environment show that, improved ant colony path planning algorithm not only considers the influence of actual terrain and soil, but also improves computation efficiency. The time cost of optimal routing computation is much lower which is essential for real time off-road path planning scenarios.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat He, X., Gao, X. Z., Yan, X., et al. (2016). Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain. Robotica, 1, 1–21. He, X., Gao, X. Z., Yan, X., et al. (2016). Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain. Robotica, 1, 1–21.
2.
Zurück zum Zitat Cook, J. T., Ray, L. E. & Lever, J. H. (2016). Dynamics model for mobility optimization and control of off-road tractor convoys. In IEEE American Control Conference. (pp. 6875–6880). Cook, J. T., Ray, L. E. & Lever, J. H. (2016). Dynamics model for mobility optimization and control of off-road tractor convoys. In IEEE American Control Conference. (pp. 6875–6880).
3.
Zurück zum Zitat Francisco, J. C., William, A. L., & Chakravarthini, M. S. (2016). Trafficability assessment of deformable terrain through hybrid wheel-leg sinkage detection. Journal of Field Robotics., 34(3), 1–26. Francisco, J. C., William, A. L., & Chakravarthini, M. S. (2016). Trafficability assessment of deformable terrain through hybrid wheel-leg sinkage detection. Journal of Field Robotics., 34(3), 1–26.
4.
Zurück zum Zitat Cibulova, K., Sobotka, J. & Cibulova, K. et al. (2017). Testing of different ways of overcoming untrafficable terrain. In International Conference on Military Technologies. (pp. 313–317). Cibulova, K., Sobotka, J. & Cibulova, K. et al. (2017). Testing of different ways of overcoming untrafficable terrain. In International Conference on Military Technologies. (pp. 313–317).
5.
Zurück zum Zitat Schwarz, M. & Behnke, S. (2014). Local navigation in rough terrain using omnidirectional height. In International Symposium on Robotics. (pp. 1–6). Schwarz, M. & Behnke, S. (2014). Local navigation in rough terrain using omnidirectional height. In International Symposium on Robotics. (pp. 1–6).
6.
Zurück zum Zitat Papadakis, P. (2013). Terrain traversability analysis methods for unmanned ground vehicles: A survey. Engineering Applications of Artificial Intelligence, 26(4), 1373–1385.CrossRef Papadakis, P. (2013). Terrain traversability analysis methods for unmanned ground vehicles: A survey. Engineering Applications of Artificial Intelligence, 26(4), 1373–1385.CrossRef
7.
Zurück zum Zitat Jiang, K & Li, H. (2015). Path planning of robot based on ant colony algorithm. In International Conference on Electrical, Computer Engineering and Electronics. (pp. 757–761). Jiang, K & Li, H. (2015). Path planning of robot based on ant colony algorithm. In International Conference on Electrical, Computer Engineering and Electronics. (pp. 757–761).
8.
Zurück zum Zitat Rudolf, N., Orhan, Y., Victor, P., et al. (2018). Robot path planning based on ant colony optimization algorithm for environments with obstacles. Improved Performance of Materials, 72, 175–184.CrossRef Rudolf, N., Orhan, Y., Victor, P., et al. (2018). Robot path planning based on ant colony optimization algorithm for environments with obstacles. Improved Performance of Materials, 72, 175–184.CrossRef
9.
Zurück zum Zitat Cao, J. (2016). Robot global path planning based on an improved ant colony algorithm. Journal of Computer and Communications, 4(2), 11–19.CrossRef Cao, J. (2016). Robot global path planning based on an improved ant colony algorithm. Journal of Computer and Communications, 4(2), 11–19.CrossRef
10.
Zurück zum Zitat Parpinelli, R. S., & Lopes, H. S. (2015). A computational ecosystem for optimization: review and perspectives for future research. Memetic Computing, 7(1), 29–41.CrossRef Parpinelli, R. S., & Lopes, H. S. (2015). A computational ecosystem for optimization: review and perspectives for future research. Memetic Computing, 7(1), 29–41.CrossRef
11.
Zurück zum Zitat Liu, J., Yang, J., Liu, H., et al. (2016). An improved ant colony algorithm for robot path planning. Soft Computing, 1(11), 1–11. Liu, J., Yang, J., Liu, H., et al. (2016). An improved ant colony algorithm for robot path planning. Soft Computing, 1(11), 1–11.
12.
Zurück zum Zitat Fan, X., & Luo, X. (2003). Optimal Path Planning for Mobile Robots Based on Intensified Ant Colony Optimization Algorithm. Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 1, 131–136. Fan, X., & Luo, X. (2003). Optimal Path Planning for Mobile Robots Based on Intensified Ant Colony Optimization Algorithm. Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 1, 131–136.
13.
Zurück zum Zitat Lazarowska, A. (2015). Ship’s trajectory planning for collision avoidance at sea based on ant colony optimisation. Journal of Navigation, 68(2), 291–307.CrossRef Lazarowska, A. (2015). Ship’s trajectory planning for collision avoidance at sea based on ant colony optimisation. Journal of Navigation, 68(2), 291–307.CrossRef
14.
Zurück zum Zitat Fischer, A., & Helmberg, C. (2013). The symmetric quadratic traveling salesman problem. Mathematical Programming, 14(2), 205–254.MathSciNetCrossRefMATH Fischer, A., & Helmberg, C. (2013). The symmetric quadratic traveling salesman problem. Mathematical Programming, 14(2), 205–254.MathSciNetCrossRefMATH
15.
Zurück zum Zitat Chen, K.-Y. (2014). Development of optimal path planning based on ant colony and wireless sensor network localization techniques for an autonomous mobile service robot. IEEE International Conference on Information Science, Electronics and Electrical Engineering, 2, 954–959. Chen, K.-Y. (2014). Development of optimal path planning based on ant colony and wireless sensor network localization techniques for an autonomous mobile service robot. IEEE International Conference on Information Science, Electronics and Electrical Engineering, 2, 954–959.
16.
Zurück zum Zitat Rybansky M. (2017). Trafficability analysis through vegetation. In International Conference on Military Technologies. (pp. 207–210). Rybansky M. (2017). Trafficability analysis through vegetation. In International Conference on Military Technologies. (pp. 207–210).
17.
Zurück zum Zitat Flores, A. N., Entekhabi, D., & Bras, R. L. (2014). Application of a hillslope-scale soil moisture data assimilation system to military trafficability assessment. Journal of Terramechanics, 51(2), 53–66.CrossRef Flores, A. N., Entekhabi, D., & Bras, R. L. (2014). Application of a hillslope-scale soil moisture data assimilation system to military trafficability assessment. Journal of Terramechanics, 51(2), 53–66.CrossRef
18.
Zurück zum Zitat Yang, F., Lin, G., & Zhang, W. (2015). Terrain classification for terrain parameter estimation based on a dynamic testing system. Sensor Review, 35(4), 329–339.CrossRef Yang, F., Lin, G., & Zhang, W. (2015). Terrain classification for terrain parameter estimation based on a dynamic testing system. Sensor Review, 35(4), 329–339.CrossRef
19.
Zurück zum Zitat Cunningham, C., Wong, U., Peterson, K. M., et al. (2015). Predicting terrain traversability from thermal diffusivity. Springer Tracts in Advanced Robotics, 105, 61–74.CrossRef Cunningham, C., Wong, U., Peterson, K. M., et al. (2015). Predicting terrain traversability from thermal diffusivity. Springer Tracts in Advanced Robotics, 105, 61–74.CrossRef
20.
Zurück zum Zitat Buyurgan, N., & Lehlou, N. (2015). A terrain risk assessment method for military surveillance applications for mobile assets. Computers and Industrial Engineering, 88, 88–99.CrossRef Buyurgan, N., & Lehlou, N. (2015). A terrain risk assessment method for military surveillance applications for mobile assets. Computers and Industrial Engineering, 88, 88–99.CrossRef
21.
Zurück zum Zitat Birkel, P. A. (2003). Terrain trafficability in modeling and simulation. Technical Paper Series. (1):16–17. Computer Simulation 28:231–234. Birkel, P. A. (2003). Terrain trafficability in modeling and simulation. Technical Paper Series. (1):16–17. Computer Simulation 28:231–234.
22.
Zurück zum Zitat Ciobotaru, T. (2009). Semi-empiric algorithm for assessment of the vehicle mobility. Leonardo Electronic Journal of Practices and Technologies, 8(15), 19–30. Ciobotaru, T. (2009). Semi-empiric algorithm for assessment of the vehicle mobility. Leonardo Electronic Journal of Practices and Technologies, 8(15), 19–30.
23.
Zurück zum Zitat George, L., Mason, E. & Alex B. (2016). Predicting soil strength in terms of cone index and california bearing ratio for trafficability. ERDC/GSL 1–13. George, L., Mason, E. & Alex B. (2016). Predicting soil strength in terms of cone index and california bearing ratio for trafficability. ERDC/GSL 1–13.
Metadaten
Titel
Off-road Path Planning Based on Improved Ant Colony Algorithm
verfasst von
Han Wang
Hongjun Zhang
Kun Wang
Chen Zhang
Chengxiang Yin
Xingdang Kang
Publikationsdatum
13.02.2018
Verlag
Springer US
Erschienen in
Wireless Personal Communications / Ausgabe 2/2018
Print ISSN: 0929-6212
Elektronische ISSN: 1572-834X
DOI
https://doi.org/10.1007/s11277-017-5229-5

Weitere Artikel der Ausgabe 2/2018

Wireless Personal Communications 2/2018 Zur Ausgabe

Neuer Inhalt