Application of ant colony and immune combined optimization algorithm in path planning of unmanned craft
Source abstract
Abstract
The ant colony optimization (ACO) algorithm is improved and further integrated with the immune algorithm (IA) to address its problems, such as slow convergence, local optimum, and premature convergence in the path planning. An algorithm integrating IA and improved ant colony optimization (IACO) is, therefore, put forward to realize the optimal planning of global path for an unmanned surface vehicle (USV). First, the ACO algorithm was improved in three aspects, that is, generation of initial pheromones, transition probability, and update of pheromones. The proposed IA-IACO algorithm combined the advantages of IA and IACO, sped up the convergence, and enhanced the optimization capability and operational efficiency. Second, the IA-IACO algorithm was designed and applied in the global path planning of an unmanned surface vehicle, achieving great global optimization and convergence. Finally, a path smoothing algorithm was devised to achieve the implementable, economic, and stable path while guaranteeing the safe navigation of the USV. A simulation test was carried out to prove the effectiveness and superiority of the designed global path planning algorithm in the practical engineering.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Maritime Navigation and Safety · Robotic Path Planning Algorithms · Maritime Security and History
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Weapon Engineering College of Naval University of Engineering 1 , Wuhan 430000, China
Unit 71776 of the Chinese People’s Liberation Army 2 , Beijing 100161, China
Key Laboratory of Complex Ship System Simulation 3 , Beijing 100161, China
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