Swarm-Based Approach to Path Planning using Honey-Bees MatingAlgorithm and ART Neural Network

摘要

In this paper, an integration of Honey bees mating algorithm (HBMA) and adaptiveresonance theory neural network (ART1) for efficient path planning of a mobile robot in a staticenvironment is presented. The robot must find shortest route from given origin to the targetposition. Moreover, it should be able to memorize the environment and, if it faces known world,execute already learned trajectory found by HBMA solver, or solve the world and memorize thetrajectory for the given environment. This is done using Adaptive Resonance Theory based neuralnetwork. This way simulated robot is able to navigate through environment and to continuouslyincrease its knowledge.