Research on the Application of Ant Colony Algorithm in Underwater Path Planning

DOI

10.2991/isaeece-16.2016.10How to use a DOI?

Keywords

Underwater terrain-aided navigation Path planning Ant colony algorithm Particle filter

Abstract

In order to ensure sufficient terrain information for the underwater terrain-aided navigation, a global path planning method based on Ant Colony Algorithm (ACA) is proposed. The concept of feasible region is firstly defined, and then pheromone representation, heuristic functions and pheromone updating rules are discussed in detail. Thirdly, ACA considering comprehensively navigation tasks and terrain information is studied on the basis of real terrain data. Finally, Simulative verification with Particle Filter (PF) navigational algorithm on the given path is conducted. The results show that the proposed path planning method can achieve good performance in underwater terrain-aided navigation.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Feng
AU  - Zhe Rao
AU  - Zhong Wang
PY  - 2016/04
DA  - 2016/04
TI  - Research on the Application of Ant Colony Algorithm in Underwater Path Planning
BT  - Proceedings of the 2016 International Symposium on Advances in Electrical, Electronics and Computer Engineering
PB  - Atlantis Press
SP  - 46
EP  - 50
SN  - 2352-5401
UR  - https://doi.org/10.2991/isaeece-16.2016.10
DO  - 10.2991/isaeece-16.2016.10
ID  - Feng2016/04
ER  -