Three-dimensional Terrain Generation And Research On Path Planning Method In Complex Seabed

With the continuous development of related technologies,Autonomous Underwater Vehicle(AUV)has been widely used,such as evaluating marine resources in deep sea or under the ice,testing and repairing oil pipeline and transoceanic cable under the sea.The level of path planning determines AUV intelligence’s.The path planning is closely related to the development of geographic information System(GIS).With GIS technology becoming more matures,path planning method based on a variety of GIS technology has become an important research direction in the field of AUV.With the traditional two-dimensional GIS technology becoming more and more difficult to meet the increasingly complex technical requirements,three-dimensional GIS technologies have emerged and quickly become a hot topic.ESRI’s ArcGIS is widely used among many GIS products,and has become the new GIS standard.This paper analyzes the use of three-dimensional model of ArcGIS Engine,and develops the digital three-dimensional terrain.In the field of path planning,ant colony algorithm has been widely used with good real-time,less time complexity,and can gain relatively short path,etc.However,there are shortcomings of colony algorithm,such as the slow rate of convergence.The paper improves pheromone evaporation factor and information strength to solve this problem.The experiments prove that the improved ant colony algorithm has more quick convergence rate.The main contents are as follows:(1)Based on ArcGIS Engine,a three-dimensional GIS development framework,this paper completes the development of Path Planning Simulation System of three-dimensional terrain generation.(2)Aimed at the complex environment of three 3D terrain,this paper makes studies on pheromone evaporation and pheromone intensity,and presents the strong convergence ACO for three-dimensional path planning.The algorithm significantly improves the convergence rate.(3)The path planned out by ant colony algorithms is a line connected to a series of points.In polyline vertex,the robot must stop to change direction,so it is necessary to smooth the path.This paper proposes the method of curving corners and smoothing the path with Clothoid.After the treatment,a new curve whose curvature is continuous is generated.Combined 3D GIS with path planning,this paper proposes the strong convergence ACOand the method of smoothing path,and comprehensively display the process of generating three-dimensional terrain using point data and completing three-dimensional path planning.