Abstract
This piece of research introduces POOCA (Progressive Optimisation of Organised Colonies of Ants) as an appealing variant of the established ACO (Ant Colony Optimisation) algorithm. The novelty of POOCA lies on the combination of the co-operation inherent in ACO with the spread of activation around the winner node during SOM (Self-Organising Map) training. The principles and operation of POOCA are demonstrated on examples from robot navigation in unknown environments cluttered with obstacles: efficient navigation and obstacle avoidance are demonstrated via the construction of short and – at the same time - smooth paths (i.e. optimal, or near-optimal solutions); furthermore, path convergence is speedily accomplished with restricted numbers of ants in the colony. The aim of this presentation is to put forward the application of POOCA to combinatorial optimisation problems such as the traveling salesman, scheduling etc.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Goss, S., Aron, S., Deneubourg, J.L., Pasteels, J.M.: Self-organised shortcuts in the argentine ant. Naturwissenschaft 76, 579–581 (1989)
Collett, T.S., Waxman, D.: Ant navigation: reading geometrical signposts. Current Biology Dispatch 15, R171 (2005)
Jackson, D.E., Holcombe, M., Ratnieks, F.L.W.: Trail geometry gives polarity to ant foraging networks. Nature 432, 907–909 (2004)
Dorigo, M., Maniezzo, V., Colorni, A.: Ant system: optimisation by a colony of cooperating agents. IEEE Transactions on Systems, Man, and Cybernetics 26, 29–41 (1996)
Dorigo, M., di Caro, G., Gambardella, L.M.: Ant algorithms for discrete optimization. Artificial Life 5, 137–172 (1999)
Blum, C.: Ant colony optimization: introduction and recent trends. Physics of Life Reviews 2, 353–373 (2005)
Dorigo, M., Blum, C.: Ant colony optimization theory: a survey. Theoretical Computer Science 344, 243–278 (2005)
Kohonen, T.: Self-Organising Maps (Third Extended Edition). Springer, Berlin (2001)
Grasse, P.P.: La reconstruction du nid et les coordinations interdividuelles chez bellositermes natalensis et cubitermes sp. La theorie de la stigmetrie: essai d’ intepretation du comportement des termites constructeurs, Insectes Sociaux 6, 41–81 (1959)
Mazer, B., Ahuactzin, J.M., Bessiere, P.: The Ariadne’s clew algorithm. Journal of Artificial Intelligence Research 9, 295–316 (1998)
Borisov, A., Vasilyev, A.: Learning classifier systems in autonomous agent control tasks. In: Proceedings of 5th International Conference on Application of Fuzzy Systems and Soft Computing (ICAFS-2002), Milan, Italy, September 17-18, 2002, pp. 36–42 (2002)
Vaughan, R.T., Stoy, K., Sukhatme, G.S., Mataric, M.J.: LOST: localization-space trails for robot teams. IEEE Transactions on Robotics and Automation 8, 796–812 (2002)
Sumpter, D.J.T., Beekman, M.: From nonlinearity to optimality: pheromone trail foraging by ants. Animal Behaviour 66, 273–280 (2003)
Blum, C., Dorigo, M.: The hyper-cube framework for ant colony optimization. IEEE Transactions on Systems, Man, and Cybernetics – Part B 34, 1161–1172 (2004)
Chang, C.: Using sensor habituation in mobile robots to reduce oscillatory movements in narrow corridors. IEEE Transactions on Neural Networks 16, 1582–1589 (2005)
Bruckstein, A.M.: Why the ant trails look so straight and nice. The Mathematical Intelligencer 15, 59–62 (1993)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Tambouratzis, T. (2007). Progressive Optimisation of Organised Colonies of Ants for Robot Navigation: An Inspiration from Nature. In: Beliczynski, B., Dzielinski, A., Iwanowski, M., Ribeiro, B. (eds) Adaptive and Natural Computing Algorithms. ICANNGA 2007. Lecture Notes in Computer Science, vol 4432. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71629-7_73
Download citation
DOI: https://doi.org/10.1007/978-3-540-71629-7_73
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-71590-0
Online ISBN: 978-3-540-71629-7
eBook Packages: Computer ScienceComputer Science (R0)