بهینه سازی برنامه ریزی مسیر تراکنش دستی در حضور موانع با الگوریتم کلون مورچه

Optimal path planning for robot manipulator plays an important role in the domain of robotics. In this work, we use Ant colony algorithm as an optimization tool because ACO has been known to be robust for search and optimization problems. The Ant colony algorithm has been used to find the optimal path from an initial to a final position in the presence of five obstacles with rectangular shapes and sizes in the robot environment. The algorithm has been tested in simulation and the obtained results show the efficiency and reliability of the proposed method.