一种自主水下机器人航路规划算法研究

在基本蚁群算法的基础上,提出了一种用于实现自主水下机器人路径规划的自适应蚁群算法,该方法通过改进概率的选择和调节信息素挥发系数,保证AUV以更安全的航路接近目标,同时提高了搜索最优路径的收敛速度,并对路径进行平滑处理使结果更可行.用Matlab对控制算法进行仿真,仿真结果表明该算法能明显改善路径规划性能.

Study on a Kind of Path Planning Algorithm for Autonomcus Underwater Vehicle

Based on ant colony algorithm,the self-adaptive ant colony algorithm is proposed to plan an optimal collision-free path for atonomcus underwater vehicle(AUV).In this paper,measures of keeping optimization,adaptively selecting and adaptively adjusting are applied,which can find better path at higher convergence speed,and the new algorithm uses tangent smoothing the path in the end.Simulation results using Matlab show that the performance of path planning can be obviously improved by the new ant colony algorithm.