Research On Path Planning Method Of Manned Submarine Based On Ant Colony Optimization Algorithm

The path planning technology of manned submersible is a very important part in the research field of manned submersibles,and also an important part of unmanned underwater vehicle technology.The development of this technology is of great significance to reduce the workload of submersibles and improve the navigation efficiency.Ant colony algorithm,a biomimetic algorithm,is used by academic community to solve the path planning problems of underwater robots and manned submersibles due to its advantages such as flexibility and easy integration of other algorithms.However,the traditional ant colony algorithm has some shortcomings and deficiencies in solving the path planning problem.This thesis analyzes this and proposes some solutions,the specific content is as follows:(1)The first work will bring forward the idea of "using ant colony optimization algorithm to build 'path extension block' and make secondary path finding in this range".Then we utilized discrete functions to dynamically adjust the parameters of pheromone residue factor and pheromone volatilization factor.Compared with the traditional ant colony algorithm,simulation results show that our algorithm with less iterations and time consuming is less affected by probability,and has better stability.(2)The second work will propose a path planning algorithm based on ant colony optimization algorithm to increase real-time perception.Inspired by the quantitative calculation of "repulsion" in the artificial potential field method,we quantified the "density" of obstacles around the path point.In the process of selecting path points based on probability,we introduced the perception of the density of obstacles around the path point and the turning of the path.The path found by our algorithm is far away from obstacles and turns less.(3)Finally,we will bring forward a method of multi-constrained optimum quality of path for manned submersibles.We quantified the main factors affecting the path quality and defined the multi-constrained path quality evaluation function.The function value of the evaluation function is used to replace the path length and participate in the updating of pheromones.The path found by our algorithm meets many constraints,such as less driving difficulty,high path safety and low energy consumption,which is more in line with the actual driving needs of the manned submersible.