Department of Computer Science and Information Systems
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Item An Intelligent Gain based Ant Colony Optimisation Method for Path Planning of Unmanned Ground Vehicles(DRDO, 2019) Viswanathan, SangeethaIn many of the military applications, path planning is one of the crucial decision-making strategies in an unmanned autonomous system. Many intelligent approaches to pathfinding and generation have been derived in the past decade. Energy reduction (cost and time) during pathfinding is a herculean task. Optimal path planning not only means the shortest path but also finding one in the minimised cost and time. In this paper, an intelligent gain based ant colony optimisation and gain based green-ant (GG-Ant) have been proposed with an efficient path and least computation time than the recent state-of-the-art intelligent techniques. Simulation has been done under different conditions and results outperform the existing ant colony optimisation (ACO) and green-ant techniques with respect to the computation time and path lengthItem A Fuzzy Gain-Based Dynamic Ant Colony Optimization for Path Planning in Dynamic Environments(MDPI, 2021-01) Viswanathan, SangeethaPath planning can be perceived as a combination of searching and executing the optimal path between the start and destination locations. Deliberative planning capabilities are essential for the motion of autonomous unmanned vehicles in real-world scenarios. There is a challenge in handling the uncertainty concerning the obstacles in a dynamic scenario, thus requiring an intelligent, robust algorithm, with the minimum computational overhead. In this work, a fuzzy gain-based dynamic ant colony optimization (FGDACO) for dynamic path planning is proposed to effectively plan collision-free and smooth paths, with feasible path length and the minimum time. The ant colony system’s pheromone update mechanism was enhanced with a sigmoid gain function for effective exploitation during path planning. Collision avoidance was achieved through the proposed fuzzy logic control. The results were validated using occupancy grids of variable size, and the results were compared against existing methods concerning performance metrics, namely, time and length. The consistency of the algorithm was also analyzed, and the results were statistically verified.Item Assessment of an ant-inspired algorithm for path planning(Elsevier, 2022) Viswanathan, SangeethaThe demand for path planners for a variety of applications has significantly increased over the past decade. The correct choice of a distance metric will be of utmost importance for an efficient path planner. The underlying connectivity of the roadmaps produced by the planner are determined by the metrics. A study was conducted in this chapter for the proper choice of planner metrics. Five metrics from the literature were chosen and implemented in a gain-based ant colony optimization (GACO) algorithm. Results are analyzed against parameters, such as time taken, length of the path, and turn characteristics. Finally, the GACO with the chosen metric was implemented using different satellite images from the International Society for Photogrammetry and Remote Sensing and compared against existing algorithms with respect to performance.Item A Hybrid Gain-Ant Colony Algorithm for Green Vehicle Routing Problem(IEEE, 2022) Viswanathan, SangeethaIncreasing carbon emissions, and thus footprint, is one of the main reasons for the imbalance in environmental sustainability, which is primarily contributed to transportation. Transportation is a core functionality of logistics distribution and supply chain. In this paper, a hybrid gain-ant colony optimization and fruit fly optimization algorithm for green vehicle routing problem is proposed to plan shortest paths with reduced total fuel consumption efficiently. The proposed algorithm was simulated using the Erdogan and Miller Hooks dataset and compared with best-known solutions and existing methods.