An improved three-dimensional path planning method of mobile robot

作者：Wu, Yu-Xiang; Wang, Chao

来源：Journal of South China University of Technology(Natural Science Edition), 2016, 44(9): 53-60.

DOI：10.3969/j.issn.1000-565X.2016.09.008

• Ant colony algorithms
• Global path planning
• Path planning method
• Searching efficiency
• Three dimensional space
• Three-dimensional environment
• Updating strategy
• Working environment

In a known working environment, the three-dimensional global path planning of mobile robots is investigated in this paper. Firstly, both the updating strategy of global pheromone and the calculation method of pheromone increment in the ant colony algorithm are improved to make the planned path more reasonable. Next, the safety factor is introduced into the path planning and is calculated off-line in advance. Then, a fallback mechanism is designed to clear the pheromone of the point where ants fall into a deadlock, so as to achieve efficient obstacle avoidance of mobile robots in complex three-dimensional environment. Finally, the traditional search mode is improved to make the mobile robot move in the direction which is perpendicular to the main direction. Simulation results show that the above-mentioned path planning method is of a high searching efficiency with a shorter three-dimensional path, and it is more practical.

• 出版日期2016-9-1
• 单位华南理工大学