An Improved Ant Colony Algorithm of Three Dimensional Path Planning

摘要

The path planning problem of mobile robot in three dimension environment is studied in this paper. The heuristic function and pheromone update method of ant colony algorithm are improved. The influence factor of path distance in heuristic function is introduced. The algorithm search has a certain direction. At the same time, in order to improve the convergence speed of the algorithm. The penalty mechanism of pheromone is adopted, and it combine with the self adapted volatile factor. Simulation results show that the length of the 3D path and the search efficiency are improved by the improved algorithm.