Underwater Route Planning Based on Ant Colony Optimization Algorithm
Niu Xing-jiang · Torpedo Technology · 2013
To ensure the underwater terrain-aided navigation system can obtain sufficient terrain information on planned route,a route planning method is designed with the ant colony algorithm,and the underwater route planning for terrain-aided navigation is studied.The concept of feasible region is defined,and the pheromone representation,heuristic functions and pheromone updating rules are discussed in detail.Simulation with point-mass filter(PMF) is conducted,and the results show that the proposed route planning method can achieve good match in underwater terrain-aided navigation.