{"id":"https://openalex.org/W4417040555","doi":"https://doi.org/10.1017/s0263574725102932","title":"Application of improved ant colony algorithm fusing Bresenham and direction factor in mobile robot path planning","display_name":"Application of improved ant colony algorithm fusing Bresenham and direction factor in mobile robot path planning","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W4417040555","doi":"https://doi.org/10.1017/s0263574725102932"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102932","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102932","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101874714","display_name":"Shuai Wu","orcid":"https://orcid.org/0009-0007-5824-6846"},"institutions":[{"id":"https://openalex.org/I4210124427","display_name":"City College of Dongguan University of Technology","ror":"https://ror.org/02vdh2x09","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029","https://openalex.org/I4210124427"]},{"id":"https://openalex.org/I45029084","display_name":"City University of Seattle","ror":"https://ror.org/008a9hf75","country_code":"US","type":"education","lineage":["https://openalex.org/I4210086682","https://openalex.org/I45029084"]},{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["CN","MO","US"],"is_corresponding":false,"raw_author_name":"Shuai Wu","raw_affiliation_strings":["Dongguan City University","Macao Polytechnic University","Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","School of Artificial Intelligence, Dongguan City University, Dongguan, China"],"raw_orcid":"https://orcid.org/0009-0007-5824-6846","affiliations":[{"raw_affiliation_string":"Dongguan City University","institution_ids":["https://openalex.org/I4210124427","https://openalex.org/I45029084"]},{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"School of Artificial Intelligence, Dongguan City University, Dongguan, China","institution_ids":["https://openalex.org/I4210124427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056739280","display_name":"Zibo Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124427","display_name":"City College of Dongguan University of Technology","ror":"https://ror.org/02vdh2x09","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029","https://openalex.org/I4210124427"]},{"id":"https://openalex.org/I45029084","display_name":"City University of Seattle","ror":"https://ror.org/008a9hf75","country_code":"US","type":"education","lineage":["https://openalex.org/I4210086682","https://openalex.org/I45029084"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zibo Huang","raw_affiliation_strings":["Dongguan City University","School of Artificial Intelligence, Dongguan City University, Dongguan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dongguan City University","institution_ids":["https://openalex.org/I4210124427","https://openalex.org/I45029084"]},{"raw_affiliation_string":"School of Artificial Intelligence, Dongguan City University, Dongguan, China","institution_ids":["https://openalex.org/I4210124427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002372553","display_name":"Zijing Ye","orcid":"https://orcid.org/0009-0009-5616-9773"},"institutions":[{"id":"https://openalex.org/I4210124427","display_name":"City College of Dongguan University of Technology","ror":"https://ror.org/02vdh2x09","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799850029","https://openalex.org/I4210124427"]},{"id":"https://openalex.org/I45029084","display_name":"City University of Seattle","ror":"https://ror.org/008a9hf75","country_code":"US","type":"education","lineage":["https://openalex.org/I4210086682","https://openalex.org/I45029084"]},{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["CN","MO","US"],"is_corresponding":false,"raw_author_name":"Zijing Ye","raw_affiliation_strings":["Dongguan City University","Macao Polytechnic University","Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","School of Artificial Intelligence, Dongguan City University, Dongguan, China"],"raw_orcid":"https://orcid.org/0009-0009-5616-9773","affiliations":[{"raw_affiliation_string":"Dongguan City University","institution_ids":["https://openalex.org/I4210124427","https://openalex.org/I45029084"]},{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"School of Artificial Intelligence, Dongguan City University, Dongguan, China","institution_ids":["https://openalex.org/I4210124427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760165","display_name":"Yapeng Wang","orcid":"https://orcid.org/0000-0002-1085-5091"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Yapeng Wang","raw_affiliation_strings":["Macao Polytechnic University","Faculty of Applied Sciences, Macao Polytechnic University, Macao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045641465","display_name":"Xu Yang","orcid":"https://orcid.org/0000-0002-7037-3609"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Xu Yang","raw_affiliation_strings":["Macao Polytechnic University","Faculty of Applied Sciences, Macao Polytechnic University, Macao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao, China","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022394682","display_name":"Sio\u2010Kei Im","orcid":"https://orcid.org/0000-0002-5599-4300"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Sio-Kei Im","raw_affiliation_strings":["Macao Polytechnic University","Macao Polytechnic University, Macao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University","institution_ids":["https://openalex.org/I49835588"]},{"raw_affiliation_string":"Macao Polytechnic University, Macao, China","institution_ids":["https://openalex.org/I49835588"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101760165"],"corresponding_institution_ids":["https://openalex.org/I49835588"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35600658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"12","first_page":"4429","last_page":"4456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7703999876976013,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7703999876976013,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.066600002348423,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.007499999832361937,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.7839000225067139},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6944000124931335},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6435999870300293},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5562999844551086},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47110000252723694},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.46050000190734863}],"concepts":[{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.7839000225067139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.71670001745224},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6944000124931335},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6435999870300293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5562999844551086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4805000126361847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47110000252723694},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.46050000190734863},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.44440001249313354},{"id":"https://openalex.org/C60891933","wikidata":"https://www.wikidata.org/wiki/Q796575","display_name":"Ant colony","level":3,"score":0.43309998512268066},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42899999022483826},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37290000915527344},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102932","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102932","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2063914115","https://openalex.org/W2090265073","https://openalex.org/W2107941094","https://openalex.org/W2523202702","https://openalex.org/W2573137292","https://openalex.org/W2938380935","https://openalex.org/W3042497295","https://openalex.org/W3048463148","https://openalex.org/W3126326857","https://openalex.org/W3135798356","https://openalex.org/W4205129187","https://openalex.org/W4205903114","https://openalex.org/W4292862782","https://openalex.org/W4313531156","https://openalex.org/W4319601637","https://openalex.org/W4319791149","https://openalex.org/W4324049775","https://openalex.org/W4327956071","https://openalex.org/W4365453587","https://openalex.org/W4367839715","https://openalex.org/W4382982265","https://openalex.org/W4383551621","https://openalex.org/W4383621574","https://openalex.org/W4385429487","https://openalex.org/W4385655289","https://openalex.org/W4386417904","https://openalex.org/W4388295255","https://openalex.org/W4389206703","https://openalex.org/W4389739430","https://openalex.org/W4389947025","https://openalex.org/W4390583630","https://openalex.org/W4390817112","https://openalex.org/W4391290222","https://openalex.org/W4391312491","https://openalex.org/W4398185139","https://openalex.org/W4401220832","https://openalex.org/W4402576295","https://openalex.org/W4402761231","https://openalex.org/W4402809604","https://openalex.org/W4404375367","https://openalex.org/W4404563185"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"The":[1,210],"traditional":[2],"ant":[3,168],"colony":[4],"optimisation":[5],"(ACO)":[6],"algorithm,":[7,192],"when":[8],"applied":[9],"to":[10,21,54,92,98,125,162,178],"mobile":[11],"robot":[12,183],"path":[13,65,88,117,171,228],"planning,":[14],"faces":[15],"several":[16],"challenges:":[17],"slow":[18],"convergence,":[19],"susceptibility":[20],"local":[22],"optima,":[23],"and":[24,58,62,132,173,181],"the":[25,37,60,77,85,90,93,101,116,127,163,167,174,187,190,208],"generation":[26],"of":[27,34,51,64,176,189],"paths":[28,164],"with":[29,136],"excessive":[30],"turning":[31],"points,":[32],"all":[33,223],"which":[35],"reduce":[36],"robot\u2019s":[38],"operational":[39],"efficiency.":[40],"To":[41,185],"overcome":[42],"these":[43,219],"shortcomings,":[44],"this":[45,135],"paper":[46],"proposes":[47],"a":[48,111,137,154,159,198],"targeted":[49],"set":[50],"improvements":[52],"designed":[53],"enhance":[55],"algorithm":[56,216],"performance":[57,188,224],"increase":[59],"practicality":[61],"efficiency":[63],"planning.":[66],"First,":[67],"we":[68,109,145,152,193],"introduce":[69],"an":[70],"initial":[71],"pheromone":[72,82,139],"enhancement":[73],"mechanism":[74],"based":[75],"on":[76,197],"Bresenham":[78],"algorithm.":[79],"By":[80],"augmenting":[81],"concentration":[83],"along":[84],"approximate":[86],"straight-line":[87],"from":[89],"start":[91],"goal,":[94],"ants":[95],"are":[96],"guided":[97],"explore":[99],"in":[100,207],"optimal":[102],"direction,":[103],"thereby":[104],"significantly":[105,217],"accelerating":[106],"convergence.":[107],"Second,":[108],"integrate":[110],"directional":[112],"continuity":[113],"factor":[114],"into":[115],"selection":[118],"probability:":[119],"by":[120,133,166],"using":[121],"vector":[122],"dot":[123],"products":[124],"strengthen":[126],"bias":[128],"toward":[129],"consistent":[130],"directions":[131],"coupling":[134],"curvature-based":[138],"reward":[140],"that":[141,213],"favours":[142],"straighter":[143],"segments,":[144],"ensure":[146],"smoother,":[147],"more":[148],"direct":[149],"paths.":[150],"Finally,":[151],"apply":[153],"spring-model-based":[155],"smoothing":[156],"strategy":[157],"as":[158],"post-processing":[160],"step":[161],"generated":[165],"colony,":[169],"reducing":[170],"complexity":[172],"number":[175],"turns":[177],"guarantee":[179],"efficient":[180],"reliable":[182],"motion.":[184],"validate":[186],"improved":[191],"conduct":[194],"comparative":[195],"experiments":[196],"MATLAB":[199],"platform":[200],"against":[201],"other":[202],"enhanced":[203],"ACO":[204],"variants":[205],"reported":[206],"literature.":[209],"results":[211],"demonstrate":[212],"our":[214],"proposed":[215],"outperforms":[218],"existing":[220],"methods":[221],"across":[222],"metrics,":[225],"exhibiting":[226],"superior":[227],"planning":[229],"capabilities.":[230]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-12-05T00:00:00"}
