Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram

The basic purpose of mobile robot motion planning (MRMP) is discover the shortest path safely from beginning to the end position in the environment without crash some obstacles. In this paper, we proposed a combined method between Voronoi diagram (VD) and the modified Ant Colony Optimization (M-ACO)...

Full description

Saved in:
Bibliographic Details
Published in2016 International Seminar on Intelligent Technology and Its Applications (ISITIA) pp. 613 - 618
Main Authors Habib, Nukman, Purwanto, Djoko, Soeprijanto, Adi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2016
Subjects
Decision support systems
mobile robot motion planning
modified ant colony optimization
point to point
Seminars
voronoi diagram
Online AccessGet full text
DOI10.1109/ISITIA.2016.7828730

Cover

Abstract The basic purpose of mobile robot motion planning (MRMP) is discover the shortest path safely from beginning to the end position in the environment without crash some obstacles. In this paper, we proposed a combined method between Voronoi diagram (VD) and the modified Ant Colony Optimization (M-ACO) algorithm for MRMP. The Voronoi diagram generate edges and vertices in the obstacles-filled space, then M-ACO choose the nodes (the generated vertices by VD) to form the safely shortest path by point to point (PTP) motion planning. The proposed approach to solve this MRMP problem indicate that it could make a safely planning shortest path.
AbstractList The basic purpose of mobile robot motion planning (MRMP) is discover the shortest path safely from beginning to the end position in the environment without crash some obstacles. In this paper, we proposed a combined method between Voronoi diagram (VD) and the modified Ant Colony Optimization (M-ACO) algorithm for MRMP. The Voronoi diagram generate edges and vertices in the obstacles-filled space, then M-ACO choose the nodes (the generated vertices by VD) to form the safely shortest path by point to point (PTP) motion planning. The proposed approach to solve this MRMP problem indicate that it could make a safely planning shortest path.
Author Purwanto, Djoko
Soeprijanto, Adi
Habib, Nukman
Author_xml – sequence: 1
  givenname: Nukman
  surname: Habib
  fullname: Habib, Nukman
  email: habib13@mhs.ee.its.ac.id
  organization: Dept. of Electr. Eng., Inst. Teknol. Sepuluh Nopember, Surabaya, Indonesia
– sequence: 2
  givenname: Djoko
  surname: Purwanto
  fullname: Purwanto, Djoko
  email: djoko@ee.its.ac.id
  organization: Dept. of Electr. Eng., Inst. Teknol. Sepuluh Nopember, Surabaya, Indonesia
– sequence: 3
  givenname: Adi
  surname: Soeprijanto
  fullname: Soeprijanto, Adi
  email: adisup@ee.its.ac.id
  organization: Dept. of Electr. Eng., Inst. Teknol. Sepuluh Nopember, Surabaya, Indonesia
BookMark eNotkMtqwzAURFVoF22aL8hGP2BXsmLLWobQhyGhi5pugx5X4YKtaxxv3K-vab2awzCcxTyx-0QJGNtJkUspzEvz1bTNIS-ErHJdF7VW4o5tja5lKYyQWpjqkXVnctgBH8nRxHuakBIfOpsSpit3Mx8I08QnWsHZGwS-bHoKGHFhu7SeOkozp2HCHn_sn8SmwL9ppETIA9rraPtn9hBtd4PtmhvWvr22x4_s9PneHA-nDI2YsqpQoTJBgN9DaaMGHcpYumhEWRV-77SUUdUQVQgOoq-MFzKU3ngArZ0SasN2_1oEgMswYm_H-bJeoH4BsxlY6g
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ISITIA.2016.7828730
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Xplore
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 9781509017096
1509017097
EndPage 618
ExternalDocumentID 7828730
Genre orig-research
GroupedDBID 6IE
6IL
CBEJK
RIE
RIL
ID FETCH-LOGICAL-i90t-623d69d0ec4e5af7e7d5f5bf90562c4b711f38ef3ddbefc69c01d5c9cee77b303
IEDL.DBID RIE
IngestDate Thu Jun 29 18:38:26 EDT 2023
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i90t-623d69d0ec4e5af7e7d5f5bf90562c4b711f38ef3ddbefc69c01d5c9cee77b303
PageCount 6
ParticipantIDs ieee_primary_7828730
PublicationCentury 2000
PublicationDate 2016-July
PublicationDateYYYYMMDD 2016-07-01
PublicationDate_xml – month: 07
  year: 2016
  text: 2016-July
PublicationDecade 2010
PublicationTitle 2016 International Seminar on Intelligent Technology and Its Applications (ISITIA)
PublicationTitleAbbrev ISITIA
PublicationYear 2016
Publisher IEEE
Publisher_xml – name: IEEE
Score 1.6516169
Snippet The basic purpose of mobile robot motion planning (MRMP) is discover the shortest path safely from beginning to the end position in the environment without...
SourceID ieee
SourceType Publisher
StartPage 613
SubjectTerms Decision support systems
mobile robot motion planning
modified ant colony optimization
point to point
Seminars
voronoi diagram
Title Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram
URI https://ieeexplore.ieee.org/document/7828730
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PS8MwFA5zJ08qm_ibHDzarl2TtDmKODZhIjhlt7HkpVB0zRjtYf71vrRxonjwFkJK25e039fme98j5BqAK450KJCZ4AEzuIwl48sAJLjN3AwRpXH7fBTjF_Yw5_MOudnlwhhjGvGZCV2z2csHq2v3q2yQOnf2BD_Q99JMtLla3kgojuRg8jyZTW6dWkuEfuSPkikNYowOyPTrXK1Q5C2sKxXqj182jP-9mEPS_87No0871DkiHVP2yPvUKny86cYqW9G2Mg9d-3pEVG3p2hZlRSvrGw67gOKYlYUiRxZKMcDUGViXW2rxLbLy6ZnYD_TVuRzYguJSclquPpmN7md348DXUQgKGVUBEhwQEiKjmeHLPDUp8JyrXDruo5lK4zhPMpMnAMrkWkgdxcC1xBtJU4UQd0y6pS3NCaHAgSV4xDCLEyYysTRIb2SimNKQ6Gh4SnouUIt165Sx8DE6-7v7nOy7yWrFrxekW21qc4kQX6mrZm4_AXwaqu8
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PT4MwFG6WedCTms342x48CoPRAj0a4zJ0W0xEs9uy9pWE6OiysMP8630FnNF48NY0JcBr4fug3_seIdcAXHKkQ46IQ-4wjctYMD53QIDdzI0RUSq3z0k4fGEPUz5tkZttLozWuhKfadc2q718MGptf5X1IuvOHuAH-g5njPE6W6uxEvI90UuekzS5tXqt0G3G_iiaUmHGYJ-Mv85WS0Xe3HUpXfXxy4jxv5dzQLrf2Xn0aYs7h6Sliw55HxuJDzhdGWlKWtfmocumIhGVG7o0eVHS0jQNi15AcczCQJ4hD6UYYmotrIsNNfgeWTQJmtgP9NX6HJic4mKyaq4uSQf36d3QaSopOLnwSgcpDoQCPK2Y5vMs0hHwjMtMWPajmIx8PwtinQUAUmcqFMrzgSuBNxJFEkHuiLQLU-hjQoEDC_CIfuwHLIzDuUaCIwLJpIJAef0T0rGBmi1rr4xZE6PTv7uvyO4wHY9mo2TyeEb27MTVUthz0i5Xa32BgF_Ky2qePwGYJq48
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2016+International+Seminar+on+Intelligent+Technology+and+Its+Applications+%28ISITIA%29&rft.atitle=Mobile+robot+motion+planning+by+point+to+point+based+on+modified+ant+colony+optimization+and+Voronoi+diagram&rft.au=Habib%2C+Nukman&rft.au=Purwanto%2C+Djoko&rft.au=Soeprijanto%2C+Adi&rft.date=2016-07-01&rft.pub=IEEE&rft.spage=613&rft.epage=618&rft_id=info:doi/10.1109%2FISITIA.2016.7828730&rft.externalDocID=7828730