Abstract: When the wild material transportation and the mountainous area free walk, need to plan the walking route in the mountainous area, proposes the improved ant colony algorithm to solve the problem.In order to meet the obstacle avoidance constraints, the slope of the obstacle avoidance rules reasonably increase the diversity of the path;according to the distance between the current node to the target and the starting point, a new heuristic function is designed to drive the robot to move along the shortest path between the starting point and the target point.The volatile coefficient is adjusted dynamically with the length of real time path, to refine the search space and improve the convergence performance.The improved ant colony algorithm is compared with the original algorithm, the experiment shows that the improved ant colony algorithm is better than the basic ant colony algorithm.

Key words: ant colony algorithm, robot path planning, Grid method, quasi three dimensional