Intelligent algorithm acts as one of the most important solutions to path planning problem. In order to solve the problems of poor real-time and low accuracy of the heuristic optimization algorithm in 3D path planning, this paper proposes a novel heuristic intelligent algorithm derived from the Beetle Antennae Search (BAS) algorithm. The algorithm proposed in this paper has the advantages of wide search range and high search accuracy, and can still maintain a low time complexity when multiple mechanisms are introduced. This paper combines the BAS algorithm with three non-trivial mechanisms proposed to solve the problems of low search efficiency and poor convergence accuracy in 3D path planning. The algorithm contains three non-trivial mechanisms, including local fast search, aco initial path generation, and searching information orientation. At first, local fast search mechanism presents a specific bounded area and add fast iterative exploration to speed up the convergence of path finding. Then aco initial path generation mechanism is initialized by Ant Colony Optimization (ACO) as a pruning basis. The initialization of the ACO algorithm can quickly obtain an effective path. Using the exploration trend of this path, the algorithm can quickly obtain a locally optimal path. Thirdly, searching information orientation mechanism is employed for BAS algorithm to guarantee the stability of the path finding, thereby avoiding blind exploration and reducing wasted computing resources. Simulation results show that the algorithm proposed in this paper has higher search accuracy and exploration speed than other intelligent algorithms, and improves the adaptability of the path planning algorithms in different environments. The effectiveness of the proposed algorithm is verified in simulation. INDEX TERMS Beetle antennae search, optimal path finding, bio-inspired optimization, search orientation.

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The Beetle Antennae Search (BAS) algorithm is a meta-heuristic search algorithm, which has efficient search capabilities. This paper presents two different variant algorithms based on the BAS algorithm, which are the BAS with fitness value (BASF) algorithm and BAS with local fast search (BASL) algorithm. The test results of 23 benchmark functions will be used to verify the reliability and accuracy of these algorithm. These benchmark functions include unimodal and multimodal high-dimensional functions, as well as fixed-dimensional multimodal functions. The test results show that the improved algorithm can search for the optimal solution globally and accurately with its own search strategy without environment parameters. Stability and accuracy are significantly improved while the calculation time does not change much.

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