Improved ant colony optimization for safe path planning of AUV

被引：6
|
作者：
Meng, Ronghua [1 ,2 ]
Cheng, Xinhao [1 ,2 ]
Wu, Zhengjia [1 ,2 ]
Du, Xuan [1 ,2 ]
机构：
[1] China Three Gorges Univ, Hubei Key Lab Hydroelect Machinery Design & Mainte, Yichang 443002, Hubei, Peoples R China
[2] China Three Gorges Univ, Intelligent Mfg Innovat Technol Ctr, Yichang 443002, Hubei, Peoples R China
来源：
HELIYON | 2024年 / 10卷 / 07期
关键词：
Improved ant colony optimization; Safety factors; Dam inspections; ALGORITHM;
D O I：
10.1016/j.heliyon.2024.e27753
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
In order to address the autonomous underwater vehicle navigation challenge for dam inspections, with the goal of enabling safe inspections and reliable obstacle avoidance, an improved smooth Ant Colony Optimization algorithm is proposed for path planning. This improved algorithm would optimize the smoothness of the path besides the robustness, avoidance of local optima, and fast computation speed. To achieve the goal of reducing turning time and improving the directional effect of path selection, a corner-turning heuristic function is introduced. Experimental simulation results show that the improved algorithm performs best than other algorithms in terms of path smoothness and iteration stability in path planning.
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收藏
页数：14
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