Research on optimal planning method of USV for complex obstacles
Wang Yuan-hui, Chi Cen · 2016
In this thesis, based on the selected intelligent optimization algorithm - ant colony algorithm, introduced its system and its typical applications are analyzed through operational focus and discussion method algorithm. The main structure of the paper can be divided into two parts: the typical obstacles modeling and the use of global path planning ant colony algorithm. In part modeling, the use of the grid method view and draw use MATLAB model for global planning. In the global planning, the use of MATLAB simulation of the optimal path planning of USV facing typical obstacles, to achieve the desired objectives.