Abstract:

Based on the Cockroach Swarm Optimization (CSO) algorithm, a new Cockroach Colony Optimization (CCO) algorithm is presented and applied to the Robot Path Planning (RPP) problem in this paper. In the CCO algorithm, an improved grid map is used for environment modeling, and 16-geometry and 8-geometry are introduced, respectively, in food division and cockroach search operation. Moreover, the CCO algorithm adopts a non-probabilistic search strategy, which avoids a lot of invalid searches. Furthermore, by introducing a novel rotation scheme in the above CCO algorithm, an Adaptive Cockroach Colony Optimization (ACCO) algorithm is presented for the 2-D Rod-Like Robot Path Planning (RLRPP) problem. The simulation results show that the CCO algorithm can plan an optimal or approximately optimal collision-free path with linear time com-plexities. With the ACCO algorithm, the robot can accomplish intelligent and adaptive rotations to avoid obstacles and pass through narrow passages along the better path.

Key words: CCO, robot path planning, adaptive CCO, rod-like robot path planning, piano mover’s problem