一种基于改进的蚁群优化算法的三维空间路径搜索算法

摘要

针对传统二维平面的随机搜索算法---蚁群优化算法不能满足三维空间路径搜索以及快速性要求等问题，提出了改进的方法。基于栅格离散方法创建空间环境地图，通过引入搜索主方向、可视域及可行域等定义将搜索算法扩展至三维空间，建立了三维空间下的蚁群优化算模型，并给出该方法的搜索流程。而后根据此模型及流程实现了仿真程序，得到仿真结果，并与传统方法做出了分析比较，得出该改进方法具有较快的收敛速度、较好的稳定性和更高的计算效率。%In this paper, we proposed a new method to improve the performance of Ant Colony Optimization ( ACO) algorithm used in route planning. Concerning the unavailable and in-efficient shortages of ACO when used in three-dimension situations, a modified model, which uses new definitions of marching direction, visible domains and reachable domains, utilizes Grid Representation Method for mapping, is introduced in this paper. Then a pro-cedure is given on this model. At last simulation implementation in MATLAB code is used for verifying this method and the results are shown in diagram forms. Compared with conventional method, the results and their analysis show preliminary the modified method has a rapid convergence rate and strong robustness and higher computing efficien-cy.