关键词: 三维空间, 路径规划, 粒子群

Abstract: The improved particle swarm optimization algorithm is applied to path planning problem in 3-D space.Firstly，the modeling method in 3-D space is presented；secondly，the particle swarm optimization algorithm is improved by mounting the inertia coefficient [w] in subsection and disturbing its position in the iterative process.Then the way of dealing with the condition when path is trapped in barriers is changed.At last the algorithm process of path planning problem in 3-D space based on the improved algorithm is presented.The simulation results prove that the proposed methods can improve the computational efficiency and reliability of particle swarm optimization used in path planning problem in 3-D space，and setting reasonable path points can save computing resource effectively.

Key words: 3-D space, path planning, particle swarm