Comparison of Standard and Modified Ant Colony Algorithm with Fuzzy system for Path Planning of Robot in Complex Environment

摘要

The requirements of optimizing path planning for the autonomous robot are in high demand in such industrial communities, especially in manufacturing and caring social support. The application of meta-heuristic methods in autonomous problems is considered because of their adaptivity and robustness. Ant Colony Optimization (ACO) is one of the researchers’ approaches because of its effectiveness in the ant community. However, some constraints are making this method less productive. Therefore, this paper is to generate a modified ACO combined with Fuzzy logic (ACOFL) to minimize its drawbacks and maximize the robustness of path planning. This study presents the role of ACO algorithms in Path Planning, especially in the complex aspect, through the theoretical background of ACO and the other combination with other algorithms. The improved mathematics model evaluation demonstrates the upgrade steps in the path-finding process. Simulation results shows that the modified ACO algorithm is effective for complex environment compare to standard ACO algorithm. Moreover, the comparison results are presented in this paper between the standard ACO and modified ACO algorithm.