针对工作环境已知的情况，研究了移动机器人的全局三维路径规划问题． 首先改进蚁群算法全局信息素的更新策略和信息素增量的计算方法，使规划出的路径效果更优;
接着引入安全性因素并提前离线计算，设计当蚂蚁陷入死锁时将该点信息素清零的回退机制，以实现复杂三维环境中机器人的高效避障; 然后对传统搜索模式进行改进，实现机器人垂直于前进主方向的移动方式． 仿真结果表明，采用文中设计的路径规划方法得到的三维路径长度短，搜索效率高，且更加符合实际情况．

In a known working environment,the three-dimensional global path planning of mobile robots is investigated in this paper.Firstly,both the updating strategy of global pheromone and the calculation method of pheromone increment in the ant colony algorithm are improved to make the planned path more reasonable.Next,the safety factor is introduced into the path planning and is calculated off-line in advance.Then,a fallback mechanism is designed to clear the pheromone of the point where ants fall into a deadlock,so as to achieve efficient obstacle avoidance of mobile robots in complex three-dimensional environment.Finally,the traditional search mode is improved to make the mobile robot move in the direction which is perpendicular to the main direction.Simulation results show that the above-mentioned path planning method is of a high searching efficiency with a shorter threedimensional path,and it is more practical.