A Hybrid Algorithm Based on Ant Colony and Genetic Algorithm for AUV Path Planning
Jihong Hu, Meng Joo Er, Tianhe Liu, Siqi Wang · 2023
In this paper, a hybrid algorithm based on ant colony optimization (ACO) and genetic algorithm(GA) is proposed for path planning of an autonomous underwater vehicle. The novel algorithm, which combines ACO and GA has the following features: ❨1❩ It plans path through ACO; ❨2❩ GA is used to find the optimal path; ❨3❩ A new evaluation function is proposed and is adjusted to select a relatively smooth path; ❨4❩ The number of search points is reduced to reduce computation load. Simulation results show that the proposed algorithm can find shorter paths in the same map compared with ACO.