3D Path Planning of AUV Based on Improved Ant Colony Optimization

In order to solve path planning problem for autonomous underwater vehicle(AUV) in the spatial space, a new method based on Octree model and improved ant colony algorithm is presented in this paper. Three-dimensional space area model can be built by Octree model. An improved ant colony algorithm is adopted for high efficiency path planning based on this model. Octree not only records all of the area information but also compresses area information high efficiently. Improved ant colony algorithm can find a path that maintains a safe distance from obstacles, which improves the usefulness for the planning path. Simulation experiments illustrate that the designed method can get a good balance between efficiency and usefulness of the planning path and find a path efficiently in the three-dimensional space.