Three-dimensional Local Path Planning of Robot Based on AR-ANT Algorithm and B-spline Curve

摘要

In order to ensure the safety of robot, the problem of robot path planning is studied. First by rasterize approach to 3 dimension modeling, the search space and at a safe distance, the execution time and cost as the objective function, an improved pheromone update rule of ant colony algorithm, then combined with simulated annealing algorithm is effective and good convergence and optimization results, the three dimensional line path planning by using the B spline interpolation method and curve fitting, generating a smooth path, conducive to the stable robots. At last, the feasibility and local adaptability of the algorithm are verified by MATLAB simulation and physical experiment. The results show that compared with the traditional algorithm, the path planned by the algorithm is safer and more optimal, and the quality of robot path planning is effectively improved.