Jisuanji fangzhen · 2008 · 23 citations · 0 references
EngineeringComputer ScienceOcean EngineeringOptimizationPath PlanningUnderwater RoboticsAutonomous Underwater VehiclesCollision Avoidance ControlHeuristic SearchObstacle AvoidanceRoute PlanningUnderwater NavigationAnt Colony OptimizationIntelligent ControlPath OptimizationPath Planning For Collision AvoidancePath Planning For Marine VehiclesRobot Path PlanningUnderwater Path PlanningUnderwater Vehicle Control
Path planning is one of the key techniques of underwater vehicle's intelligent control system, whose purpose is to find a collision-free path from the source position to the destination position according to some optimization criteria. The ant colony algorithm was used when studying the path planning for underwater vehicle in three-dimensional space. Path optimization search algorithm based on ACS algorithm was designed, while pheromone representation, route point choosing rules, heuristic functions and pheromone updating rules were given as well. The simulation experiments show that the algorithm presented has better searching capability, and can carry out path planning in three-dimensional space effectively.