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计算机系统应用英文版:2011,20(11):95-98

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基于改进蚁群算法的三维空间机器人路径规划

胡荟, 蔡秀珊

(浙江师范大学数理与信息学院,金华 321004)

Path Planning of Robots in 3D Space Based on an Improved Ant Colony Algorithm

HU Hui, CAI Xiu-Shan

(College of Mathematics, Physics and Information Engineering, Zhejiang Normal University, Jinhua 321004, China)

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Received:March 21, 2011 Revised:April 29, 2011

中文摘要: 针对已知环境信息下的移动机器人三维空间路径规划问题,提出了一种基于改进蚁群算法的路径规划算法。首先描述了一种简单有效的环境建模方法,然后给出了算法在信息素的呈现、路径点的选取以及信息素的更新规则上的改进方法。仿真结果证明了算法的低耗时和实用性。

中文关键词: 三维空间路径规划蚁群算法环境建模信息素

Abstract:As regards to the problem of mobile robot path planning in 3d space under the given environmental information, a kind of path planning algorithm is presented based on progressed ant colony algorithm. This paper describes a simple and effective environment modeling method, and then provides methods of algorithm improvement on pheromone representation,route point choosing and pheromone updating rules. The simulation results show low time-consuming and practicality of algorithm.

keywords: three dimensional space path planning ant colony algorithm environment model pheromone representation

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基金项目:浙江省大学生科技创新活动计划(新苗人才计划)(2009R404056)

Author Name	Affiliation
HU Hui	College of Mathematics, Physics and Information Engineering, Zhejiang Normal University, Jinhua 321004, China
CAI Xiu-Shan	College of Mathematics, Physics and Information Engineering, Zhejiang Normal University, Jinhua 321004, China

Author Name	Affiliation
HU Hui	College of Mathematics, Physics and Information Engineering, Zhejiang Normal University, Jinhua 321004, China
CAI Xiu-Shan	College of Mathematics, Physics and Information Engineering, Zhejiang Normal University, Jinhua 321004, China

引用文本：
胡荟,蔡秀珊.基于改进蚁群算法的三维空间机器人路径规划.计算机系统应用,2011,20(11):95-98
HU Hui,CAI Xiu-Shan.Path Planning of Robots in 3D Space Based on an Improved Ant Colony Algorithm.COMPUTER SYSTEMS APPLICATIONS,2011,20(11):95-98