AUV global path planning of improved distribution estimation algorithm
In order to solve the problem that distribution estimation algorithm based on fixed-width histogram (FWH)is easy to fall into local optimum when solving the path planning problem of autonomous underwater vehicle(AUV),an individual renewal method fusion strategy is proposed. Some individual updating methods of wolf pack optimization algorithm(WPA)and cubic spline function are fused into the algorithm. The diversity of individual updating methods is increased,and precision of AUV path planning is improved,and the convergence speed is increased. The performances of the original algorithm and the improved algorithm are evaluated in underwater digital elevation model environment. Simulation results verify the feasibility and effectiveness of the improved algorithm.
distribution estimation algorithmwolf pack optimization algorithm(WPA)cubic spline interpolation curvepath planningunderwater digital elevation model
万方数据
维普
