An Improved Ant-Driven Approach to Navigation and Map Building

  • Chaomin LuoEmail author
  • Furao Shen
  • Hongwei Mo
  • Zhenzhong Chu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10385)


An improved ant-type approach, ant colony optimization (ACO) model, integrated with a heading direction scheme (HDS) to real-time collision-free navigation and mapping of an autonomous robot is proposed in this paper. The developed HDS-based ACO model for concurrent map building and safety-aware navigation is capable of remedying the shortcoming of risky distance from obstacles in combination with the Dynamic Window Approach (DWA) algorithm as a local navigator. Its effectiveness and efficiency of the developed real-time hybrid map building and safety-aware navigation of an autonomous robot have been successfully validated by simulated experiments and comparison studies.


ACO Motion planning HDS DWA Local navigation Grid-based map 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Chaomin Luo
    • 1
    Email author
  • Furao Shen
    • 2
  • Hongwei Mo
    • 3
  • Zhenzhong Chu
    • 4
  1. 1.Department of Electrical and Computer EngineeringUniversity of Detroit MercyMichiganUSA
  2. 2.Department of Computer Science and TechnologyNanjing UniversityNanjingChina
  3. 3.Automation CollegeHarbin Engineering UniversityHarbinChina
  4. 4.College of Information EngineeringShanghai Maritime UniversityShanghaiChina

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