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

Nukman Habib; Djoko Purwanto; Adi Soeprijanto

doi:10.1109/ISITIA.2016.7828730

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

Institut Teknologi Sepuluh Nopember

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016
Subtitle of host publication	Recent Trends in Intelligent Computational Technologies for Sustainable Energy
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	613-618
Number of pages	6
ISBN (Electronic)	9781509017096
DOIs	https://doi.org/10.1109/ISITIA.2016.7828730
Publication status	Published - 20 Jan 2017
Event	2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016 - Lombok, Indonesia Duration: 28 Jul 2016 → 30 Jul 2016

Publication series

Name	Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy

Conference

Conference	2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016
Country/Territory	Indonesia
City	Lombok
Period	28/07/16 → 30/07/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

mobile robot motion planning
modified ant colony optimization
point to point
voronoi diagram

Access to Document

10.1109/ISITIA.2016.7828730

Cite this

Habib, N., Purwanto, D., & Soeprijanto, A. (2017). Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram. In Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy (pp. 613-618). Article 7828730 (Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISITIA.2016.7828730

Habib, Nukman ; Purwanto, Djoko ; Soeprijanto, Adi. / Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram. Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 613-618 (Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy).

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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.",

keywords = "mobile robot motion planning, modified ant colony optimization, point to point, voronoi diagram",

author = "Nukman Habib and Djoko Purwanto and Adi Soeprijanto",

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Habib, N, Purwanto, D & Soeprijanto, A 2017, Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram. in Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy., 7828730, Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy, Institute of Electrical and Electronics Engineers Inc., pp. 613-618, 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016, Lombok, Indonesia, 28/07/16. https://doi.org/10.1109/ISITIA.2016.7828730

Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram. / Habib, Nukman; Purwanto, Djoko ; Soeprijanto, Adi.
Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy. Institute of Electrical and Electronics Engineers Inc., 2017. p. 613-618 7828730 (Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Purwanto, Djoko

AU - Soeprijanto, Adi

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N2 - 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.

AB - 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.

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KW - modified ant colony optimization

KW - point to point

KW - voronoi diagram

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BT - Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

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Habib N, Purwanto D , Soeprijanto A. Mobile robot motion planning by point to point based on modified ant colony optimization and Voronoi diagram. In Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy. Institute of Electrical and Electronics Engineers Inc. 2017. p. 613-618. 7828730. (Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy). doi: 10.1109/ISITIA.2016.7828730

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

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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