Path Planning of Deep-sea Landing Vehicle Based on Ant Colony Algorithm

doi:10.12382/bgxb.2021.0342

Abstract

Abstract: A three-dimensional subsea global path planning algorithm suitable for landing vehicles is proposed for “path optimization” of undersea operation of，deep-sea landing vehicles. The grid equal division method is used to establish a 3D submarine environment abstract model for the operating area of landing vehicle. An energy consumption model of navigation movment of landing vehicle is established by dynamically analyzing the navigation process of landing vehicle and testing the speed and work efficiency of driving motor. Local and global pheromone update-based energy consumption-distance path planning algorithm based on ant colony optimization is adopted，and the energy consumption and distance are introduced into heuristic and evaluation functions. The experimental results show that the proposed algorithm can effectively balance the mileage and energy consumption of path planning by reasonably selecting the weight parameters of the evaluation function. It has good convergence speed and global search ability，and can meet the needs of subsea scientific research operation of deep-sea landing vehicle.

Key words: deep-sealandingvehicle, energyconsumption, pathplanning, antcolonyalgorithm

CLC Number:

TP273

GUO Wei， WU Kai， ZHOU Yue， SUN Hongming， XU Gaofei， GAO Sen. Path Planning of Deep-sea Landing Vehicle Based on Ant Colony Algorithm[J]. Acta Armamentarii, 2022, 43(6): 1387-1394.

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