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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Research on Parallel Ant Colony Algorithm for 3D Terrain Path Planning
verfasst von : Miao Zhang, Zhiwen Jiang, Lihui Wang, Yiping Yao
Erschienen in: Modeling, Design and Simulation of Systems
Verlag: Springer Singapore
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Abstract
Ant colony algorithm can be used for the automatic path planning of complex terrain. However, most of the current ant colony algorithms are based on 2D terrain, without considering the influence of terrain slope on path selection. In addition, the parallelism of the algorithm is not used, which makes the algorithm time-consuming. Aiming at the above problems, this paper proposes an improved ant colony algorithm 3D-PACA. First of all, we raster the map using bilinear interpolation method and translate the 3D terrain into 2D terrain according to the given slope threshold. And then we combine OpenMP parallel programming technology to accelerate this algorithm by mining the concurrency of ant colony algorithm using the idea of parallel computing. The simulation results show that compared with the traditional ant colony algorithm, the improved algorithm can effectively adapt to the three-dimensional terrain, and can get a speedup of about 3 times.