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

摘要： 将改进粒子群优化算法应用于三维空间路径规划。首先给出三维空间建模方法，其次通过在迭代过程中对算法惯性系数[w]分段设置和对粒子位置进行随机扰动的方式来改进粒子群优化算法，然后对路径陷入障碍物的处理方式进行改进，最后给出了基于改进粒子群优化算法的三维空间路径规划的算法流程。仿真结果表明：改进方式能有效提高粒子群优化算法应用于三维空间路径规划的计算效率和可靠性，合理设置路径节点能有效节约计算资源。

关键词: 三维空间, 路径规划, 粒子群