基于蚁群算法的三维空间机器人路径规划

Path planning in 3-D space for robot based on ant colony algorithm

将蚁群算法应用于三维空间机器人路径规划问题。首先将机器人所在位置(原点)与目的点之间的空间划分成立体网格,同时定义原点与目的点之间的有效路径。蚁群从原点出发,独立地选择有效路径,最终到达目的点,从而求出从原点到目的点之间的最优路径。实验结果表明,该算法不仅有效,而且具有较快的速度。

In this paper the ant colony algorithm is applied to path planning problem in 3-D space for robot. First of all, the space between the origin where the robot is located and destination was divided into a three dimensional grid, at the same time the valid path from origin to destination is defined, then all the ants will leave from the origin, selecting next vertex independently in three dimensional grid, to the destination on a valid path. The simulated experiment shows that the algorithm is efficient and has a great convergence rate.