engleski

Swarm-based Approach to Path Planning Using Honey Bees Mating Algorithm and Adaptive Resonance Theory (ART1)

In this paper, we propose a novel trajectory planning method for a robot navigating in the workspace containing arbitrariliy distributed obstacles. To generate the robot’ s trajectory, we developed an algorithm based on swarm intelligence concepts, to search valid and optimized trajectories in task space. The trajectories are optimized in terms of minimizing collisions and the total time ellapsed. Additionaly, we implement self- organizing neural architecture to robots’ controller. Using ART neural network of type 1, the robot is able to explore the environment and learn continuosly.

Evolutinary algorithms ; Machine learning ; Motion Plannig ; Swarm intelligence

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