面向人员岸滩行进的三维路径规划算法研究

Research on three-dimensional path planning algorithm for personnel beach landing

针对当前无法为人员岸滩行进提供科学合理的路径规划这一问题,论文基于蚁群算法提出了面向岸滩行进的最优路径规划算法。首先对基本的蚁群算法进行了改良,包括路径搜索方式、信息素更新策略和启发函数的合理设计等,改善了算法的收敛效率;然后定量结合多类岸滩场路径规划影响因子,构建了满足岸滩行进的代价函数;最终实现了面向岸滩行进的算法构建。该算法可为实现复杂地形条件下岸滩行进的最优路径解算和基于蚁群算法的相关三维路径规划分析研究提供参考借鉴。

Because of the lack of scientifically rational path planning for personnel beach landing,this paper proposes an optimal path planning algorithm for beach landing based on the ant colony algorithm.Firstly,the basic ant colony algorithm is improved,including the rational design of path search methods,pheromone updating strategies,and heuristic functions,which improves the convergence efficiency of the algorithm.Then,multiple factors influencing beach path planning are quantitatively combined to construct a cost function that satisfies beach landing.Finally,the algorithm for beach landing is constructed.The algorithm presented in this paper can provide reference and guidance for solving optimal path planning of beach landing under complex terrain conditions and for studying related three-dimensional path planning based on the ant colony algorithm.