Research on Global Path Planning of Underwater Vehicle Based on Ant Colony Algorithm
Gan Xing-li · Jisuanji fangzhen · 2007
Global path planning is one of the key techniques of underwater vehicle’s intelligent control system,whose purpose is to find a collision-free path from the source position to the destination position according to some optimization criteria. The ant colony algorithm is used when studying the global path planning for underwater vehicle in three-dimensional space. The methods for abstract modeling in three-dimensional space were described. In light of the rule of security,economy and the shortest path,the fitness evaluation function was designed while pheromone updating rules,which synthesized iteration-best information and global-best information,were given as well. The simulation result proves the correctness and effectiveness of the algorithm designed.