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    The document discusses the ant colony optimization (ACO) planning technique for robotics. It presents the mathematical model of ACO, including how pheromones are used and updated. It also provides a numerical example of calculating pheromone levels. Finally, it outlines the general ACO algorithm and notes that ACO can find better solutions faster than other techniques but requires more parameters.

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    The document discusses the ant colony optimization (ACO) planning technique for robotics. It presents the mathematical model of ACO, including how pheromones are used and updated. It also provides a numerical example of calculating pheromone levels. Finally, it outlines the general ACO algorithm and notes that ACO can find better solutions faster than other techniques but requires more parameters.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    16 views49 pages

    Lecture 3

    Uploaded by

    abdala sabry
    The document discusses the ant colony optimization (ACO) planning technique for robotics. It presents the mathematical model of ACO, including how pheromones are used and updated. It also provides a numerical example of calculating pheromone levels. Finally, it outlines the general ACO algorithm and notes that ACO can find better solutions faster than other techniques but requires more parameters.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 49

    Planning Techniques for Robotics

    Mahmoud Abdelaal

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 1


    Lecture # 3

    ACO

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 2


    Mathematical Model of ACO

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 3


    Mathematical Model of ACO

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 4


    Mathematical Model of ACO
    • Pheromones

    • Pheromones evaporate

    • Decision Making

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 5


    Mathematical Model of ACO

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 6


    Mathematical Model of ACO
    • Mathematical model that represent the pheromone

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 7


    Mathematical Model of ACO
    • Mathematical model that represent the pheromone

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 8


    Mathematical Model of ACO
    • Mathematical model that represent the pheromone

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 9


    Mathematical Model of ACO
    • Here, Kth ant move from node I to node j with probability.
    • Transition Probability

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 10


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 11


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 12


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 13


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 14


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 15


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 16


    Numerical Example

    This is how we calculate the pheromone level

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 17


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 18


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 19


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 20


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 21


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 22


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 23


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 24


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 25


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 26


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 27


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 28


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 29


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 30


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 31


    Numerical Example

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 32


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 33


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 34


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 35


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 36


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 37


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 38


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 39


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 40


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 41


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 42


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 43


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 44


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 45


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 46


    ACO Algorithm

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 47


    ACO Algorithm
    ACO Advantage:
    • Provide better solution with fewer iterations.

    ACO Limitation:
    • Use more parameters.

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 48


    Thank you for your attention !

    Good Luck !

    Mahmoud Abdelaal Planning Techniques for Robotics_@_BFCAI 49

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