| 基于蚁群优化的AUV全局路径规划研究(英文) |
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| 引用本文： | 王宏健,熊伟.基于蚁群优化的AUV全局路径规划研究(英文)[J].船舶与海洋工程学报,2009,8(1):58-64. |
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| 作者姓名： | 王宏健 熊伟 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001
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| 基金项目： | State Key Laboratory of Robotics and System (HIT) under，the Heilongjiang Scientific Research Foundation for Postdoctoral Financial Assistance under，the Project of Harbin Technological Talent Research Foundation under No |
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| 摘 要： | 路径规划是自主式水下潜器(AUV)导航研究的重要课题,AUV可用于未知环境如海洋空间探测.在大范围海洋环境中,应用蚁群优化原理对自主式水下潜器的全局路径规划问题进行了研究.引入栅格建模方法建立了蚁群可视图模型,设计了蚁群信息素更新规则;给出了蚁群全局路径规划的操作步骤;针对蚁群规划路径不平滑问题,设计了切割算予和插点算子.仿真实验结果表明,蚁群全局规划算法非常适合于求解复杂环境中的规划问题,规划时间短、路径平滑,其原型系统可应用于非结构化无人环境监测.
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| 关 键 词： | 自主式水下潜器 路径规划 蚁群优化 路径平滑 |
Research on global path planning based on ant colony optimization for AUV |
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| Hong-jian Wang,Wei Xiong.Research on global path planning based on ant colony optimization for AUV[J].Journal of Marine Science and Application,2009,8(1):58-64. |
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| Authors: | Hong-jian Wang Wei Xiong |
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| Institution: | WANG Hong-jian , XIONG Wei College of Automation,Harbin Engineering University,Harbin 150001,China |
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| Abstract: | Path planning is an important issue for autonomous underwater vehicles(AUVs) traversing an unknown environment such as a sea floor,a jungle,or the outer celestial planets.For this paper,global path planning using large-scale chart data was studied,and the principles of ant colony optimization(ACO) were applied.This paper introduced the idea of a visibility graph based on the grid workspace model.It also brought a series of pheromone updating rules for the ACO planning algorithm.The operational steps of the ... |
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| Keywords: | autonomous underwater vehicle (AUV) path planning ant colony optimization path smoothing |
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