Abstract:

As regards to the problem of mobile robot path planning in 3D space, a kind of path planning algorithm is presented based on the improved 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 and heuristic function design. The simulation results demonstrate our proposal's feasibility and reliability.

Key words: three dimensional space;path planning;ant colony algorithm;environment model;pheromone representation