3D Path Planning Based on Elevation Model and Ant Colony Algorithm
Qinkun Xiao, Yi Wang, Song Gao, Jiantao Wang · 2013
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.