Anytime Ant System for Manipulator Path Planning

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dc.contributor.author Wang, Dalong en_US
dc.contributor.author Kwok, Ngai en_US
dc.contributor.author Fang, Gu en_US
dc.contributor.author Ha, Quang en_US
dc.contributor.editor Tzyh-Jong Tarn, Shan-Ben Chen, and Gu Fang en_US
dc.date.accessioned 2012-10-12T03:36:12Z
dc.date.available 2012-10-12T03:36:12Z
dc.date.issued 2011 en_US
dc.identifier 2010006593 en_US
dc.identifier.citation Wang Dalong et al. 2011, 'Anytime Ant System for Manipulator Path Planning', , Springer-Verlag, Berlin Heidelberg, , pp. 411-420. en_US
dc.identifier.issn 978-3-642-19958-5 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/19084
dc.description.abstract An efficient algorithm for manipulator path planning is presented in this paper. Because of the complexity of the problem nature, it frequently takes a long time for the planner to find an optimal path. This drawback may hinder a robotic manipulator system from many real-time applications. In this research work, the concept of anytime algorithm is integrated into a novel swarm intelligence method, the Ant System with Negative Feedback (ASNF). With the proposed Anytime Ant System (AAS), a planner is able to find a suboptimal solution quickly, then improve the quality of this solution while time allows. Simulations based on a two-link manipulator have been carried out to demonstrate the feasibility and effectiveness of the proposed approach. en_US
dc.language English en_US
dc.publisher Springer-Verlag en_US
dc.relation.isbasedon http://dx.doi.org/10.1007/978-3-642-19959-2_50 en_US
dc.title Anytime Ant System for Manipulator Path Planning en_US
dc.parent Robotic Welding, Intelligence and Automation en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Berlin Heidelberg en_US
dc.identifier.startpage 411 en_US
dc.identifier.endpage 420 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 080201 en_US
dc.personcode 105612 en_US
dc.personcode 0000064788 en_US
dc.personcode 044448 en_US
dc.personcode 000935 en_US
dc.percentage 100 en_US
dc.classification.name Analysis of Algorithms and Complexity en_US
dc.classification.type FOR-08 en_US
dc.edition 1 en_US
dc.custom Tzyh-Jong Tarn, Shan-Ben Chen, Gu Fang en_US
dc.date.activity 20101014 en_US
dc.location.activity Shanghai, China en_US
dc.description.keywords manipulator path planning, swarm intelligence en_US
dc.staffid en_US
dc.staffid 000935 en_US


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