A 3D Path Planning Approach Based on Improved Ant Colony Algorithm for Explosion-Proof Mobile Robot

作者：Che Hong-Lei; Wu Zong-Zhi^*; Kang Rong-Xue; Yun Chao

来源：International Conference on Mechanics and Materials Science (MMS), 2016-10-15 to 2016-10-16.

• Ant Colony Algorithm
• 3D Path Planning
• Explosion-proof Mobile Robot
• Modeling

An improved ant colony optimization (ACO) algorithm was presented in this paper, which aimed at the character of the explosion-proof mobile robot (EPMR) three-dimensional (3D) path problem and the drawback of traditional ACO applied in the path planning. Firstly, the 3D abstract modeling was built for the wild environment. Then, traditional ACO was modified in the aspects of transition probability and updating pheromone mechanism. In the improved ACO, a new heuristic function was designed which depended on the synthetic influence of wild environment factors including wild terrain height, slope, and roughness. Meanwhile, the pheromone-updating mechanism was modified by utilizing pheromone trails on the shortest path to avoid stagnation of the search and improve convergence peed. Results of simulation experiments and performance analysis indicated the improved ACO can implement optimal 3D path planning in complex wild environment.

• 出版日期2018
• 单位中国安全生产科学研究院; 北京航空航天大学