A new and improved ant colony algorithm is proposed and applied to AUV in 3D path planning.This method addresses the disadvantages of slow convergence and difficulty in achieving the optimum of conventional ant colony al-gorithms in 3D path planning.Compared with existing algorithms,the improved algorithm mainly has three advantages.First,the pseudorandom state transition probability is introduced to improve the global search ability of the algorithm.Second,the distance and trajectory limitations are considered in the heuristic function,using the distance factor to en-sure the search continues to approach the target point.Under the constraint of trajectory limitation,the cumulative rota-tion angle of the trajectory is small,thereby increasing the convergence speed and accuracy.Finally,the path planning efficiency can be further improved by expanding the incremental gap of pheromones and gradually increasing the atten-uation coefficient of pheromones.Test results show that,by using the improved ant colony algorithm,a reduced path of the accumulative turning angle can be obtained,the path length decreases,and the convergence speed accelerates.
关键词
路径规划/改进蚁群算法/启发函数/信息素更新/收敛速度/三维路径规划/自主水下机器人/转移概率
Key words
path planning/improved ant colony algorithm/heuristic function/pheromone update/convergence speed/three-dimensional path planning/autonomous underwater vehicle/transition probability
维普
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