Path Planning of Manipulator Based on Improved Ant Colony Algorithm in 3D space

摘要

An improved ant colony algorithm based path planning method for robotic manipulators in three-dimensional space is proposed to solve the path planning problem of the manipulator in complex workspaces. Firstly, by setting nonuniform initial pheromone concentration, the disorder of the algorithm's search path in the early stage is reduced, and the location information of the target point is incorporated into the heuristic function to increase the influencing factors of the heuristic function, so that the ant colony search has a certain directivity. Then, the dynamic pheromone volatilization coefficient is established. With the continuous iteration, the pheromone volatilization coefficient decreases continuously. Accelerate ant colony algorithm convergence speed. The path planning simulation experiments of the improved ant colony algorithm and the ant colony algorithm are carried out in the same environment. The results show that the improved ant colony algorithm can get a better spatial path and plan faster, and the practicability and effectiveness of the algorithm on the manipulator are proved.