Reference : Ant-Air self-learning algorithm for path planning in a cluttered environment

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a journal
	Discipline(s) :	Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/10993/18000

Title :	Ant-Air self-learning algorithm for path planning in a cluttered environment
Language :	English
Author, co-author :	Ahmad, Rafiq [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Plapper, Peter [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Publication date :	Dec-2014
Journal title :	Applied Mechanics and Materials Journal
Peer reviewed :	Yes
On invitation :	No
Audience :	International
ISSN :	1660-9336
Event name :	2nd International Conference on Control, Mechatronics and Automation
Event date :	08-12-2014 to 10-12-2014
Event organizer :	sponsored by International Association of Computer Science and Information Technology
Event place (city) :	Dubai
Event country :	United Arabe Emirates (UAE)
Keywords :	[en] Path planning ; collision detection and avoidance ; self-learning algorithm ; assembling or disassembling ; narrow spaces
Abstract :	[en] Path planning in unstructured area while dealing with narrow spaces is an area of research which is receiving extensive interest. Many existing algorithms are able to produce safe paths but the presented concepts are either not adapted to narrow spaces or they are unable to learn from the past experience to improve repeated movements from the same agent or followed trajectories by other agents. This paper introduces an original concept based on Ant-Air phenomenon for safe path planning in a cluttered environment where narrow passages are treated. The algorithm presented is able to learn from the past experience and hence improve the already generated trajectory further by using some lessons learned from the past experience. The concept is applicable in various domains such as mobile robot path planning, manipulator trajectory generation and part movement in narrow passages in real or virtual assembly/disassembly process.
Name of the research project :	KIPs
Permalink :	http://hdl.handle.net/10993/18000

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