基于蚁群优化算法的水下航路规划

Underwater Route Planning Based on Ant Colony Optimization Algorithm

为了确保水下地形匹配辅助导航系统在规划航路上获得充足的地形信息,从而获得良好的匹配效果,运用蚁群优化算法设计了航路优化搜索方法,研究了基于水下地形匹配辅助导航的潜航器航路规划问题。定义了可行域的概念,并详细讨论了算法中信息素的表示方法、启发式函数的设计以及信息素的更新规则,运用算法得到了基于丰富地形信息的最优航路。最后在真实地形数据的基础上运用质点滤波(PMF)算法进行了地形匹配仿真研究,仿真结果表明,运用算法所规划的航路能够在水下地形匹配辅助导航中获得优良的地形匹配效果。

To ensure the underwater terrain-aided navigation system can obtain sufficient terrain information on planned route, a route planning method is designed with the ant colony algorithm, and the underwater route planning for terrain-aided navigation is studied. The concept of feasible region is defined, and the pheromone representation, heuristic functions and pheromone updating rules are discussed in detail. Simulation with point-mass filter（PMF） is conducted, and the results show that the proposed route planning method can achieve good match in underwater terrain-aided navi- gatlon.