Research on Unmanned Ship Route Planning Based on The Smoothed DGWW Algorithm
Huikai Meng, Pengfei Zhi, Wanlu Zhu, Haiyang Qiu, Hui Wang, Yunkai Wu · 2021
This paper proposes a smoothed DGWW global planning method based on the BAS algorithm to optimize the GWO algorithm to solve the problem of the poor local path and low convergence speed in a complex environment of unmanned ships route planning. This method integrates the method of using the two tentacles on the head of the beetle to perform the optimal search in the BAS algorithm into the GWO algorithm so local optimization can be avoided. Then, the Bezier curve is used in the acute angle removing in the path and realistic path matching. The simulation results show that: the DGWW algorithm has a smoother path, fewer turning points, and a larger search range compared with the GWO algorithm; it can produce a better path, and the local exploration is more detailed compared with the BAS algorithm.