3D smooth path planning of AUV based on improved ant colony optimization considering heading switching pressure.

ABSTRACT: A smooth and secure spatial path planning algorithm that integrates the improved ant colony optimization with the corrective connected spatial search strategy is proposed, aiming at heavy heading switching pressure of autonomous underwater vehicles sailing in complex marine environment. On the one hand, to overcome the low-dimensional search domain and inaccurate spatial communication information in traditional spatial path planning, the spatial connectivity adjacency domain search strategy is designed based on grid environment model. On the other hand, to alleviate heading switching pressure due to large path steering angles and redundant path turning points, the heuristic functions and pheromone update criterion based on ant colony optimization are introduced to improve the solution qual

SUBMITTER: Meng R 

PROVIDER: S-EPMC10390500 | biostudies-literature | 2023 Jul

REPOSITORIES: biostudies-literature