Paper Info
Title
Three-Dimensional Path Planning Based On Ant Colony Algorithm With Potential Field For Rotary-Wing Flying Robot
Abstract
This work studied three-dimensional path planning of rotary-wing flying robot in free flight model. Path planning algorithm combining artificial potential field with ant colony algorithm was proposed for the complex problem in three-dimensional environment. These two algorithms were integrated and optimized for three-dimensional environment with advantages and disadvantages of these two algorithm according to characteristics of rotary-wing flying robot in flight model. At first, ant colony algorithm for three-dimensional environmental optimization was used to do preliminary path planning. This ant colony algorithm should be improved in expression and update of pheromone and design of heuristic function. Then, artificial potential field was used to do path smoothing. According to three-dimensional map producing peak and random irregular ground, the contrast between the optimal path obtained by simulation with above algorithm and the algorithm with single artificial potential field and ant colony algorithm.
Year
DOI
Venue
2015
10.1109/ICInfA.2015.7279722
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION
Keywords
Field
DocType
Artificial potential field(APF), Ant Colony(ACO), Three-Dimensional Path planning, Rotary-Wing Flying Robot
Motion planning,Ant colony optimization algorithms,Any-angle path planning,Algorithm design,Control theory,Computer science,Smoothing,Solid modeling,Robot,Free flight
Conference
Citations 
PageRank 
References 
0
0.34
3
Authors
5
Name
Order
Citations
PageRank
jianhao tan100.34
c wang200.34
Yaonan Wang31150118.92
yuanli chenxie4399.22
Yiwei Zhang55212.65