Research on the Application of Ant Colony Algorithm in Underwater Path Planning
Wei Feng, Zhe Rao, Zhong Wang · 2016
In order to ensure sufficient terrain information for the underwater terrain-aided navigation, a global path planning method based on Ant Colony Algorithm (ACA) is proposed.The concept of feasible region is firstly defined, and then pheromone representation, heuristic functions and pheromone updating rules are discussed in detail.Thirdly, ACA considering comprehensively navigation tasks and terrain information is studied on the basis of real terrain data.Finally, Simulative verification with Particle Filter (PF) navigational algorithm on the given path is conducted.The results show that the proposed path planning method can achieve good performance in underwater terrain-aided navigation.