关键词: 移动机器人, 三维路径规划, 改进蚁群算法, 启发函数修改规则, 信息素更新规则

Abstract: In order to solve the problem of three-dimensional（3D） path planning for mobile robots in seawater environment, which is easy to fall into local optimum and slow convergence, ant colony algorithm is improved based on the global information of 3D environment to improve real-time performance and convergence speed. The heuristic function of ant colony algorithm is improved, and the pheromone updating method is dynamically improved by combining local information with global information. The pheromone updating rules are modified again by adding first-order and second-order differentials according to the flatness and smoothness of paths in 3D space. The simulation results show that the improved ant colony algorithm overcomes the shortcomings of slow convergence speed and is easy to fall into local optimum in solving the seawater 3D path planning problem.

Key words: mobile robot, three-dimensional path planning, improved ant colony algorithms, heuristic function modification rules, pheromone updating rules