基于混合蚁群算法的无人船航行路径自主规划

Autonomous planning of unmanned ship navigation path based on hybrid ant colony algorithm

路径规划是无人船自主导航的核心问题。由于无人船当前位置以及目标位置的确定受到障碍物影响,最佳航行路径的获取难度较大。为此,提出基于混合蚁群算法的无人船航行路径自主规划方法。采用栅格法构建无人船工作环境模型,由上至下、由左至右的对栅格完成编号处理,划分安全区域与障碍物区域。构建无人船航行路径自主规划数学模型,设定地形与威胁、航程上限以及路径平滑度等约束条件。针对蚁群算法初始搜索效率差等问题,将其与粒子群算法相结合,提出混合蚁群算法。利用该算法求解无人船航行路径自主规划数学模型。实验结果显示,研究方法具有较高的路径规划准确性,路径长度、平均能耗及路径规划时间指标均较优。

Path planning is the core problem of unmanned ship autonomous navigation. Because the current position and target position of unmanned ship are affected by obstacles, it is difficult to obtain the best navigation path. Therefore, an autonomous path planning method for unmanned ships based on hybrid ant colony algorithm is proposed. The working environment model of unmanned ship is constructed by grid method. The grid is numbered from top to bottom and from left to right, and the safe area and the obstacle area are divided. The mathematical model of autonomous navigation path planning of unmanned ship is constructed, and the constraint conditions such as terrain and threat, range upper limit and path smoothness are set. Aiming at the problem of poor initial search efficiency of ant colony algorithm, a hybrid ant colony algorithm is proposed by combining it with particle swarm optimization algorithm. This algorithm is used to solve the mathematical model of autonomous navigation path planning for unmanned ships. The experimental results show that the proposed method has higher path planning accuracy, and the indexes of path length, average energy consumption and path planning time are better.