An Ant Colony Optimization Algorithm For Three dimensional Path Planning

被引：0
|
作者：
Zhou, Lanfeng [1 ]
Qian, Weijie [1 ]
Cao, Guogang [1 ]
机构：
[1] Shanghai Inst Technol, Sch Comp Sci & Informat Engn, Shanghai, Peoples R China
来源：
2017 INTERNATIONAL CONFERENCE ON SECURITY, PATTERN ANALYSIS, AND CYBERNETICS (SPAC) | 2017年
基金：
中国国家自然科学基金;
关键词：
ant colony algorithm; factor; speed; pheromone; efficiency;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The path planning problem of mobile robot in three dimension environment is studied in this paper. The initial pheromone of the algorithm is set. Considering the selection strategy of ant colony algorithm, a dynamic change relation of q(0) is established by the number of iterations and path distance. The influence factor of path distance in heuristic function is introduced. In order to improve the randomness of route choice, the path selection rule has been improved. At the same time, in order to improve the convergence speed of the algorithm. The penalty mechanism of pheromone is adopted. Simulation results show that the length of the 3D path and the search efficiency are improved by the improved algorithm.
引用
收藏
页码：564 / 568
页数：5
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