华中科技大学学报（自然科学版）Issue(z1)：428-430,3.DOI:10.13245/j.hust.15S1102
基于改进蚁群算法的 AUV 航路避障任务规划
AUV route planning study for obstacle avoidance task based on improved ant colony algorithm
摘要
Abstract
Focusing on the possible multiple obstacles with different levels of threat under complex un-derwater environment,which influence the problem of underwater robot reasonable planning the opti-mal path,proposing a method that using pheromones between ant colony to adjust criterion.Applying global updating principles of heuristic pheromone,making the number of residual information of each AUV(autonomous underwater vehicles)route limited in certain extent,updating pheromone of each node to prevent search from being in stagnation behavior and pheromone center on a route will limit the spread of algorithm.Applying the improved ant colony algorithm to the model of multiple obstacle avoidance of AUV route.The results of this experiment show that this method has a good stability and can achieve the global optimal effectively.关键词
改进蚁群算法/启发式信息素/水下机器人/航路避障/任务规划Key words
improved ant colony algorithm/heuristic pheromone/autonomous underwater vehicle/route obstacle avoidance/task planning分类
信息技术与安全科学引用本文复制引用
张汝波,李建军,杨玉..基于改进蚁群算法的 AUV 航路避障任务规划[J].华中科技大学学报（自然科学版）,2015,(z1):428-430,3.基金项目
国家自然科学基金资助项目（60975071，61100005）；教育部科学研究资助项目（13YJA790123）． （）
