Research on AUV Global Path Planning Based on Multi-Objective Ant Colony Strategy

摘要

In order to overcome the limitation of traditional path planning with a single path length, a multi-objective ant colony algorithm for underwater robot path planning in marine environment is proposed. The route distance, energy consumption and safe navigation are the comprehensive planning goals. The pheromone is classified, and the pheromone update mechanism is improved based on different target performance rankings. At the same time, the three targets are optimized, and the Pareto solution set idea is introduced to find the optimal path under different navigation targets and improve the comprehensiveness of the solution. The simulation results verify the feasibility and effectiveness of the improved algorithm.