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

被引：0
|
作者：
Zhang Guanglei [1 ,2 ]
Jia Heming [3 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Peoples R China
[2] Northeast Forestry Univ, Informat & Comp Engn Coll, Harbin 150040, Peoples R China
[3] Northeast Forestry Univ, Coll Mech & Elect Engn, Harbin 150040, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Path planning; Octree model; AUV; Ant colony optimization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：5017 / 5022
页数：6
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