计算机工程与应用2019，Vol.55Issue(20)：192-196,5.DOI:10.3778/j.issn.1002-8331.1904-0212
基于改进蚁群算法的三维路径规划
Three-Dimensional Path Planning Based on Improved Ant Colony Algorithm
摘要
Abstract
In order to solve the problem of three-dimensiona(l 3D)path planning for mobile robots in seawater environ-ment, which is easy to fall into local optimum and slow convergence, ant colony algorithm is improved based on the global information of 3D environment to improve real-time performance and convergence speed. The heuristic function of ant colony algorithm is improved, and the pheromone updating method is dynamically improved by combining local informa-tion with global information. The pheromone updating rules are modified again by adding first-order and second-order dif-ferentials according to the flatness and smoothness of paths in 3D space. The simulation results show that the improved ant colony algorithm overcomes the shortcomings of slow convergence speed and is easy to fall into local optimum in solving the seawater 3D path planning problem.关键词
移动机器人/三维路径规划/改进蚁群算法/启发函数修改规则/信息素更新规则Key words
mobile robot/three-dimensional path planning/improved ant colony algorithms/heuristic function modifica-tion rules/pheromone updating rules分类
信息技术与安全科学引用本文复制引用
陈超,张莉..基于改进蚁群算法的三维路径规划[J].计算机工程与应用,2019,55(20):192-196,5.基金项目
国家自然科学青年基金(No.11502121) （No.11502121）
四川省应用基础研究计划(No.2015JY0120) （No.2015JY0120）
四川省高校科研创新团队项目(No.15JD0027) （No.15JD0027）
四川省教育厅重点项目(No.16ZA0310). （No.16ZA0310）
