Path Planning For Mobile Robot Based On Three Dimensional Realistic Terrain

In recent years,with the development of science and technology,robotics has been involved in all fields of human life.In the field of robot intelligent control,path planning is an important part of mobile robot in autonomous navigation research.Previous researches on path planning have been focused on two-dimensional environment,some results have been achieved.However,in the path planning of three-dimensional space environment,because of the more complex space and the inability to estimate the uncertainty of the terrain effectively,the path planning in the three-dimensional environment is not effective.Based on the above problems,this paper studies the path planning under the basic ant colony algorithm,and applies the improved algorithm to the three-dimensional environment.The main work is as follows:A path planning algorithm based on terrain slope and slip prediction is proposed.By considering the influence of terrain and slipping on path planning,a cost function of terrain is introduced.The fitness function of ant colony algorithm is combined with each other,and experiments are carried out in a three-dimensional environment.The experimental results show that the improved algorithm can get a better path.Then,improve the distribution of initial pheromones is proposed.The heuristic function of path search is improved.The strategy for path pheromone updating is improved.The simulation experiments are done through simulation software.The experimental results show that the improved ant colony algorithm can effectively improve the search ability of the optimal path in the three-dimensional space,and all the performance indexes of the improved algorithm have been effectively improved.