A Multi-pipe Path Planning by Modified Ant Colony Optimization

作     者：QU Yan-feng JIANG Dan LIU Bin 

作者机构：Shanghai University of Electric Power Shanghai 200090 China Shanghai Jiao Tong University Shanghai 200030 China 

出 版 物：《Computer Aided Drafting,Design and Manufacturing》 (计算机辅助绘图设计与制造（英文版）)

年 卷 期：2011年第21卷第1期

页      面：1-7页

学科分类：08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 080502[工学-材料学] 

基　　金：Supported by National Natural Science Foundation of China (50875165) 

主　　题：3D multi-pipe path planning ant colony optimization semi-iterative co-evolutionary algorithm 

摘      要：Path planning in 3D geometry space is used to find an optimal path in the restricted environment, according to a certain evaluation criteria. To solve the problem of long searching time and slow solving speed in 3D path planning, a modified ant colony optimization is proposed in this paper. Firstly, the grid method for environment modeling is adopted. Heuristic information is connected with the planning space. A semi-iterative global pheromone update mechanism is proposed. Secondly, the optimal ants mutate the paths to improve the diversity of the algorithm after a defined iterative number. Thirdly, co-evolutionary algorithm is used. Finally, the simulation result shows the effectiveness of the proposed algorithm in solving the problem of 3D pipe path planning.