基于改进蚁群算法的三维空间机器人路径规划

摘要

针对已知环境信息下的移动机器人三维空间路径规划问题,提出了一种基于改进蚁群算法的路径规划算法.首先描述了一种简单有效的环境建模方法,然后给出了算法在信息素的呈现、路径点的选取以及信息素的更新规则上的改进方法.仿真结果证明了算法的低耗时和实用性.%As regards to the problem of mobile robot path planning in 3d space under the given environmental information, a kind of path planning algorithm is presented based on progressed ant colony algorithm. This paper describes a simple and effective environment modeling method, and then provides methods of algorithm improvement on pheromone representation,route point choosing and pheromone updating rules. The simulation results show low time-consuming and practicality of algorithm.