【摘要】 路径规划是水下潜器智能控制的关键技术之一,其任务是在已知障碍物的环境中按照某一最优指标寻找一条从起始点到目标点的无碰路径。使用蚁群算法对水下潜器三维空间路径规划问题进行了研究,以ACS算法为基础设计了路径优化搜索算法,详细讨论了信息素表示方法、路径点选取原则、启发式函数设计和信息素更新规则,给出了算法的具体流程,仿真实验结果表明,该算法能够方便有效的实现三维空间中的路径规划。更多还原

【Abstract】 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.更多还原