Electronic Science and Technology ›› 2019, Vol. 32 ›› Issue (6): 58-63.doi: 10.16180/j.cnki.issn1007-7820.2019.06.012

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3D Space Path Planning Research Based on Improved Local Search Algorithm

ZHAO Wei,ZENG Guohui,HUANG Bo,ZHU Shuangxin,LIU Jin   

  1. School of Electronic and Electrical Engineering,Shanghai University of Engineering Sciences,Shanghai 201620,China
  • Received:2018-07-11 Online:2019-06-15 Published:2019-07-01
  • Supported by:
    National Natural Science Foundation of China(61701296);National Natural Science Foundation of China(61603242);Pattern Recognition and Intelligent System Discipline Construction Project(2018xk-B-09)


In robot path planning, the increase of the search area dimension will cause the path search algorithm to not converge or converge for too long time. Aiming at this problem, heuristic function model was established to improve the purpose of optimization based on the improved local search algorithm, integrating the pheromone in ant colony algorithm and potential field factor in the artificial potential field algorithm. The iteration method was used for search path optimization. The selection of path points in three-dimensional space and the establishment of heuristic function model were discussed in detail, and the detailed flow of the algorithm was presented. Finally, through the MATLAB simulation experiment, the results showed when the path planning was carried out based on the improved algorithm, the number of iterations was decreased, the search speed was faster, and the path point trajectory trend was more stable.

Key words: local search algorithm, ant colony algorithm, artificial potential field algorithm, heuristic function model, iterative method, three-dimensional space path planning

CLC Number: 

  • TP242.2