Title :
3D Path Planning Based on Elevation Model and Ant Colony Algorithm
Author :
Qinkun Xiao ; Yi Wang ; Song Gao ; Jiantao Wang
Author_Institution :
Dept. of Electron. Inf. Eng., Xi´an Technol. Univ., Xi´an, China
Abstract :
A new 3D path planning algorithm of unmanned ground vehicle is proposed. First of all, an approach for the complex 3D unstructured scene of outdoor unmanned ground vehicle is structured by Elevation model which has traits of robustness and high-efficiency. Secondly, the Ant colony algorithm to search the best path is employed. Combined with the process costing and group intelligence of Ant colony algorithm, the model is built in 3D Elevation scene, from which an ends-meeting, obstacle-avoiding and minimal cost best path is given. Simulation statistics show the validity of the proposed which Based on Elevation model and Ant colony algorithm at complex 3D unstructured scene of outdoor unmanned ground vehicle.
Keywords :
ant colony optimisation; collision avoidance; remotely operated vehicles; 3D path planning algorithm; ant colony algorithm; complex 3D unstructured scene; elevation model; ends-meeting; group intelligence; minimal cost best path; obstacle-avoidance; outdoor unmanned ground vehicle; process costing; simulation statistics; Abstracts; Algorithm design and analysis; Path planning; Roads; Robots; Solid modeling; Three-dimensional displays; 3D unstructured scene; Ant colony algorithm; Elevation model; Path planning;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.25
