Grid Ant Colony Optimization Applied to a Multi-robotic Garbage Collection System

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI:10.1109/SBR.LARS.ROBOCONTROL.2014.45

D. Sales, M. A. Dias, F. Osório

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引用次数: 4

Abstract

Garbage recycling and collection problem is an interesting problem that researchers are applying swarm intelligence algorithms to solve. Some previous approaches used particle swarm optimization, immune systems and ant colony optimization algorithms and achieved good results. Ant colony optimization is a well-known swarm intelligence algorithm that is normally used to solve computational problems which can be reduced to finding good paths in graphs. A multi-robotic system can be applied to solve this problem but it will need a control algorithm to accomplish the task. Applying the regular ant colony optimization algorithm to control the multi-robotic system is not a trivial task due to the graph representation needed. This work proposes modifications in the ant colony optimization algorithm that uses grid representation and applies the modified algorithm to solve this problem. The results showed a decrease of one order of magnitude in the number of iterations needed to solve the problem compared to the previous version of the algorithm. Considering the results the proposed algorithm showed to be able to control a multi-robotic system for the chosen problem.

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网格蚁群算法在多机器人垃圾收集系统中的应用

垃圾回收和收集问题是一个有趣的问题，研究人员正在应用群智能算法来解决。以前的一些方法采用了粒子群优化、免疫系统和蚁群优化算法，并取得了良好的效果。蚁群优化是一种著名的群体智能算法，通常用于解决可简化为在图中寻找良好路径的计算问题。多机器人系统可以用来解决这个问题，但它需要一个控制算法来完成任务。由于需要图形表示，应用常规蚁群优化算法来控制多机器人系统并不是一项简单的任务。本文提出了对蚁群优化算法的改进，该算法使用网格表示，并应用改进后的算法来解决这一问题。结果表明，与之前版本的算法相比，解决问题所需的迭代次数减少了一个数量级。结果表明，所提算法能够控制所选问题的多机器人系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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