An ant colony optimization algorithm for three dimensional path planning

摘要

The path planning problem of mobile robot in three dimension environment is studied in this paper. The initial pheromone of the algorithm is set. Considering the selection strategy of ant colony algorithm, a dynamic change relation of q <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">0</sub> is established by the number of iterations and path distance. The influence factor of path distance in heuristic function is introduced. In order to improve the randomness of route choice, the path selection rule has been improved. At the same time, in order to improve the convergence speed of the algorithm. The penalty mechanism of pheromone is adopted. Simulation results show that the length of the 3D path and the search efficiency are improved by the improved algorithm.