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Volume 24 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2016  >  24(2): 120-125
WEN Zhi-wen, CAI Wei-jun, YANG Chun-wu. Three-dimensional Path Planning Method Based on Improved Ant Colony Algorithm for UUV[J]. Journal of Unmanned Undersea Systems, 2016, 24(2): 120-125. doi: 10.11993/j.issn.1673-1948.2016.02.008
Citation: WEN Zhi-wen, CAI Wei-jun, YANG Chun-wu. Three-dimensional Path Planning Method Based on Improved Ant Colony Algorithm for UUV[J]. Journal of Unmanned Undersea Systems, 2016, 24(2): 120-125. doi: 10.11993/j.issn.1673-1948.2016.02.008
shu

Three-dimensional Path Planning Method Based on Improved Ant Colony Algorithm for UUV

doi: 10.11993/j.issn.1673-1948.2016.02.008
  • 1.

    The 705 Research Institute, China Shipbuilding Industry Corporation, Xi′an 710077, China

  • 2.

    Science and Technology on Underwater Information and Control Laboratory, Xi′an 710077, China

  • Received Date: 2016-03-02
  • Rev Recd Date: 2016-03-21
  • Publish Date: 2016-04-20
    Abstract
  • A path planning method based on improved ant colony algorithm is presented for an UUV to solve the problem that the current ant colony algorithm exists uncertainty of weight coefficient, deviation of objective function values from ideal value, low efficiency, slow convergence speed, and possibility falling into local optimum in dealing with the path planning of multi-objective optimization by using its weighted sum method. This method optimizes the combination of multiple objectives according to the idea of Pareto noninferior optimal solution set, and applies the attraction strategy of trend position object to effectively overcome the above defects. Simulation experiment in three-dimensional environment shows that the present method is effective and feasible.

     

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