Obstacle Avoidance Algorithm of Simulation Robotic Fish Based on Ant Colony Algorithm

Abstract

In order to realize fast obstacle avoidance and tracking of robotic fish in the competition situation, and realize the rapid and accurate adjustment of robotic fish in the water environment without special intervention, a motion strategy of obstacle avoidance and tracking based on ant colony algorithm is proposed. And, the method is verified by 2D simulation platform. The results show that the simulation robotic fish can find the optimal path according to the algorithm, achieve the combination optimization of speed and direction under the premise of obstacle avoidance, and find the target point with the shortest time and distance. This shows that the obstacle avoidance and tracking method based on ant colony algorithm has strong adaptability, and can meet the requirements of motion strategy of simulation robotic fish.