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Autonomous underwater vehicle path planning method based on improved ant colony algorithm

An underwater vehicle and path planning technology, applied in the direction of instruments, vehicle position/route/altitude control, non-electric variable control, etc. The effect of long calculation time, saving storage space, and reducing the amount of calculation

Inactive Publication Date: 2019-01-08
CHINA JILIANG UNIV
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  • Application Information

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Problems solved by technology

However, the ant colony algorithm also has its own shortcomings, such as time-consuming and easy to fall into local optimal solutions (that is, stagnation phenomenon) and other shortcomings.

Method used

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  • Autonomous underwater vehicle path planning method based on improved ant colony algorithm
  • Autonomous underwater vehicle path planning method based on improved ant colony algorithm
  • Autonomous underwater vehicle path planning method based on improved ant colony algorithm

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Embodiment Construction

[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention.

[0025] Specifically, as figure 1 Said, the steps of the autonomous underwater vehicle path planning method based on the improved ant colony algorithm specifically include:

[0026] Step 1, build the environment model, initialize the parameters, input the basic data, tabu table tabu k Initialization, set the allowed list allowed k , determine the location of the starting point and the target point in the environment model.

[0027] Step 2. For any ant k, take the current node i as the center, and choose to go to the next node j according to the transfer rule.

[0028] Step 3, update the regular expression τ according to the local pheromone ijk =(1-μ)τ ijk +μ·τ 0 , to update the phe...

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Abstract

The invention discloses an autonomous underwater vehicle path planning method based on an improved ant colony algorithm. For the defects that the ant colony algorithm is long in search time, the stagnation behavior easily occurs, and the description on a complex problem is not strong enough, the following improvement is mainly performed in the process of applying the ant colony algorithm to a three-dimensional path planning process of an autonomous underwater vehicle: pheromone is released on a node but not a node side, the storage space is saved, and the computation burden is reduced; according to heuristic function design of the algorithm, a novel heuristic factor is added, depth information is used as a new heuristic function, and the convergence of the algorithm is improved; an updatepolicy of the pheromone adopts an updating way of combining global pheromone and local pheromone, the defects that the basic ant colony algorithm is long in computation time and the stagnation behavior easily occurs can be well overcome. Through the above improvement, the autonomous underwater vehicle can well respond to the complexity of the marine environment, and can better accomplish the taskunder the wide and complex marine environment.

Description

technical field [0001] The invention relates to the technical field of intelligent control of autonomous underwater vehicles, in particular to a path planning method for autonomous underwater vehicles based on an improved ant algorithm. Background technique [0002] As a high-tech means, autonomous underwater vehicles play an extremely important role in the field of ocean development and utilization. It can replace humans to complete the detection of complex marine environments, reduce the investment of ordinary manned detection ships in the system, improve safety performance, improve the economic benefits of investment, and realize intelligent, automated, low-cost marine environment detection, resource investigation and development. . Therefore, it has a wide range of applications in both civilian and military applications, and the prospect of industrialization is very broad. [0003] With the increasing application of underwater robots in civil ocean development and mi...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 严天宏房宏刚
Owner CHINA JILIANG UNIV
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