Research On Path Planning Of Wave Glider Based On Improved Ant Colony Algorithm

The wave glider is a new type of ocean observation platform which can work only by wave energy and solar energy.Its unique dual body structure transforms the wave energy into the mechanical energy that pushs itself forward.The photovoltaic system can meet the power demand of communication control and data transmission.The appearance of the wave glider solves the limitation of the observation range of the traditional ocean observation platform,overcomes the extreme marine environment,ensures the accuracy of the data,and saves a lot of cost.However,due to the unique dual body structure,the path planning of the wave glider is affected by the ocean environment.The complicated marine environment has great uncertainty for the direction and speed of the wave glider.Traditional algorithm is no longer able to meet the needs of wave glider navigation in path planning.The ant colony algorithm is a kind of intelligent multi-agent system.At the same time,as a distributed system,it has high complexity and super ability,and it can help to solve many complex problems.Compared with the traditional robot path planning,the path planning of the wave glider has a great dependence on the ocean environment.Firstly,in this thesis,a grid algorithm is used to model the complex marine environment.Environmental factors of the navigation are represented in the grid.Secondly,in order to solve the problem of slow convergence and local optimality of ant colony algorithm,an adjustable parameter is introduced to form a negative feedback to balance the pheromone of various paths.Through above methods,we can improve the heuristic function of the basic ant colony algorithm.In the way of pheromone regeneration,we introduced an elite ant.The marine environment factors are added to the incremental formula of pheromone,and then the path planning of the wave glider is completed by the ant colony algorithm of the improved heuristic function and the updated pheromone method.Finally,complementing the advantages and disadvantages of ant colony algorithm and particle swarm optimization,we propose a combination of two algorithms for wave glider path planning.First,a particle swarm optimization is used to calculate an initial solution.Then,the initial solution is converted to the increment of pheromone on the path of ant colony algorithm.We further improved the ant colony algorithm's probability transfer formula and pheromone update mode.The last step,we use the characteristics of positive feedback,high accuracy and parallelism of the improved ant colony algorithm to plan the path.In order to verify the effectiveness and accuracy of the improved ant colony algorithm and the particle swarm optimization(PSO)algorithm for the path planning of the wave glider,in the marine environment model,we use the tools MATLAB2014 a to compare the simulation results.It can be seen from the contrast results that the two improved algorithms can make the wave glider find a more feasible and no collision optimal path in the complex ocean environment.