TITLE:
Development of Path Planning Algorithm Using Probabilistic Roadmap Based on Modified Ant Colony Optimization
AUTHORS:
Firas A. Raheem, Mohammed I. Abdulkareem
KEYWORDS:
Path Planning, Probabilistic Roadmap, Ant colony Optimization, B-Spline Curve
JOURNAL NAME:
World Journal of Engineering and Technology,
Vol.7 No.4,
October
21,
2019
ABSTRACT: In this paper, a unique combination among probabilistic roadmap, modified ant colony optimization, and third order B-spline curve has been proposed to solve path planning problemsin complex and very complex environments. This proposed approach can be divided into three stages. First stage involves constructing a random roadmap depending on the environment complexity using probabilistic roadmap algorithm. Roadmap can be constructed by distributing N nodes randomly in complex and very complex static environments then pairing these nodes together according to some criteria or conditions. The constructed roadmap contains a huge number of possible random paths that may lead to connectingthe start and the goal points together. Second stage includes finding path within the pre-constructed roadmap. Modified ant colony optimization has been proposed to find or to search the best path between start and goal points, where in addition to the proposed combination, ACO has been modified to increase its ability to find shorter path. Finally, the third stage uses B-spline curveto smooth and reduce the total length of the found path in the previous stage. The results of the proposed approach ensurethefeasiblepath between start and goal points in complex and very complex environments. Also, the path is guaranteed to be short, smooth, continuousand safe.