基于势场启发蚁群算法的远程水中兵器航路规划

Remote Underwater Weapon Path Planning Based on Ant Colony Optimization Inspired by Field Heuristic

针对航行误差较大的远程水中兵器航路规划问题,采用栅格化方法建立海洋环境模型,为使兵器在航行过程中能有效规避障碍并导向目标,提出一种人工势场力为启发因子的改进蚁群算法,利用该方法搜索远程水中兵器从起始点至目标点的最佳路径,算法解决了经典蚁群算法容易陷入局部最优及收敛速度慢的问题。仿真结果表明该规划算法虽有少量的路径损失,但可以有效避免由于误差引起的航行安全问题,是一种有效的远程水中兵器航路规划方法。

Aimming at the problems of path planning for the remote under^-ater weapon with large navigation error, a grid method is used to establish the model of marine environment, in order to enable the weapon to be able to move effectively away from the barrier in the navigation, an improved ant colony optimization algorithm is proposed, and the artificial potential field is a heuristic factor of it. This algorithm is used to search for the best path of the remote underwater weapon from the starting point to the target point, and solves the problems that the standard ant colony algorithm is easy to fall into local optimum and has slow convergence speed. Simulation results show that the path planning algorithm brings a small amount of path loss, but it can avoid the problem of navigation safety due to the error. This algorithm is an effective path planning method for the remote underwater weapon.