A MODIFIED ALGORITHM OF ANT COLONIES FOR PLANNING THE PATTERN OF MOVING WEIGHTS                      IN THE OBSTRUCTED SPACE, TAKING INTO ACCOUNT ANGULAR ATTITUDE 

Shcherbakov Vitaly Sergeevich, Doctor of engineering sciences, professor, dean of the department of oil-and gas and construction hardware, Siberia State Automobile and Highway Academy (Omsk), sherbakov_vs@sibadi.org
Korytov Mikhail Sergeevich, Candidate of engineering sciences, associate professor, sub-department of constructional materials and special processes, Siberia State Automobile and Highway Academy (Omsk), kms142@mail.ru 

621.87; 681.5 

We describe a modification of the algorithm of ant colonies, which allows for searching the optimal trajectory movement for hoisting equipment cargo of arbitrary shape in three-dimensional space with arbitrary constraints, as defined in discrete form, taking into account the angular orientation of cargo. 

ant colony algorithm, modification, optimal trajectory planning, search path, three-dimensional space, the obstacles, graphs.