Research on Unmanned Surface Vehicle Path Planning Based on Improved Intelligent Water Drops Algorithm
Jinchao Wu, Yuncan Xue, Enpeng Qiu · Proceedings of the 2020 4th International Conference on Electronic Information Technology and Computer Engineering · 2020
Unmanned Surface Vehicle (USV) becomes the key point of the development of intelligent marine equipment at home and abroad with its wide application prospects. Path Planning is one of the key technologies for autonomous control of USV. In this paper, a global path planning method for USV based on intelligent water drops (IWD) algorithm is proposed. Aiming at the disadvantage of slow convergence speed caused by the lack of heuristic ability of IWD in USV path planning, an improved IWD (IIWD) algorithm based on multi-objective heuristic function is put forward. Experiments have been conducted, and the results show that IIWD algorithm converges faster and obtains shorter path than IWD algorithm and that IIWD algorithm is very fit to solve the USV path planning problem.