Three-dimensional path planning based on ant colony algorithm with potential field For rotary-wing flying robot

Abstract

This work studied three-dimensional path planning of rotary-wing flying robot in free flight model. Path planning algorithm combining artificial potential field with ant colony algorithm was proposed for the complex problem in three-dimensional environment. These two algorithms were integrated and optimized for three-dimensional environment with advantages and disadvantages of these two algorithm according to characteristics of rotary-wing flying robot in flight model. At first, ant colony algorithm for three-dimensional environmental optimization was used to do preliminary path planning. This ant colony algorithm should be improved in expression and update of pheromone and design of heuristic function. Then, artificial potential field was used to do path smoothing. According to three-dimensional map producing peak and random irregular ground, the contrast between the optimal path obtained by simulation with above algorithm and the algorithm with single artificial potential field and ant colony algorithm.