哈尔滨工程大学学报2025，Vol.46Issue(5)：858-867,10.DOI:10.11990/jheu.202304061
基于人工势场-蚁群融合算法的水下航行器声隐蔽航路规划
Acoustic covert route planning for underwater vehicles based on an artificial potential field-ant colony fusion algorithm
摘要
Abstract
Underwater vehicle route planning faces two main challenges:the"unreachability"problem in the clas-sical ant colony algorithm and insufficient consideration of acoustic concealment requirements.To address these is-sues,an artificial potential field-ant colony fusion algorithm was proposed for planning routes that ensure acoustic concealment based on sound field distribution.First,the sound field distribution in an undulating seafloor environ-ment was calculated,and the probability distribution of detection was determined.This information was then incor-porated into the heuristic function as concealment heuristic data.By integrating the potential field heuristic from the artificial potential field method,a potential field force heuristic function was constructed to avoid local optima through the potential field decay coefficient.Finally,the fusion algorithm was used to achieve global optimal route planning.The results show that the fusion algorithm effectively resolves the"unreachability"problem of the ant col-ony algorithm in complex environments.Additionally,the convergence speed is improved by 22.66%,with better stability in convergence.The acoustic concealment of the route is also ensured,making this approach a valuable reference for hidden route planning of underwater vehicles.关键词
声隐蔽/蚁群算法/人工势场法/三维声场/路径规划/抛物方程法/起伏海底/被动声纳方程Key words
acoustic occlusion/ant colony algorithm/artificial potential field method/three-dimensional acoustic field/path planning/parabolic equation method/undulating seabed/passive sonar equation分类
海洋科学引用本文复制引用
刘鹏超,池晴佳,陈威..基于人工势场-蚁群融合算法的水下航行器声隐蔽航路规划[J].哈尔滨工程大学学报,2025,46(5):858-867,10.基金项目
国家自然科学基金项目(52201334). （52201334）
