Abstract: An ant colony strategy for three-dimensional path planning of underwater platforms is designed to improve the effectiveness and applicability of path planning algorithm, overcome the limitations of traditional single performance index optimization and terrain constraint, and realize the full application of three-dimensional marine environmental factors from the aspects of safety, concealment and rapidity. All kinds of constraint factors and performance indexes，such as performance of underwater platform, terrain, marine environment and mission constraints, are considered in the ant colony strategy. The grid model is introduced to describe the three-dimensional marine space, and the multi-constraint heuristic function and multi-index evaluation function are designed. The algorithm is simulated and verified. The result shows that the algorithm fully considers the influence of marine environment, and the three-dimensional navigation planning with different performance indexes and different mission constraints can be realized by setting the planning coefficient flexibly based on multi-constraint heuristic function and multi-index evaluation function, which can better achieve the navigation requirement of underwater platform.Key

Key words: underwaterplatform, three-dimensionalroute, routeplanning, multi-constraint, multi-response, antcolonystrategy