摘要
Pathplanningin3Dgeometryspaceisusedtofindanoptimalpathintherestrictedenvironment,accordingtoacertainevaluationcriteria.Tosolvetheproblemoflongsearchingtimeandslowsolvingspeedin3Dpathplanning,amodifiedantcolonyoptimizationisproposedinthispaper.Firstly,thegridmethodforenvironmentmodelingisadopted.Heuristicinformationisconnectedwiththeplanningspace.Asemi-iterativeglobalpheromoneupdatemechanismisproposed.Secondly,theoptimalantsmutatethepathstoimprovethediversityofthealgorithmafteradefinediterativenumber.Thirdly,co-evolutionaryalgorithmisused.Finally,thesimulationresultshowstheeffectivenessoftheproposedalgorithminsolvingtheproblemof3Dpipepathplanning.
出版日期
2011年01月11日（中国期刊网平台首次上网日期，不代表论文的发表时间）
