摘要
为了改善避障效果,获得具有较少拐点的最短避障路线,设计复杂开放水域的无人船避障路线蚁群规划算法。在复杂开放水域障碍物栅格化处理的基础上,基于蚁群算法基本原理,获取势场合力、目标点的位置信息相结合的综合启发信息,优化信息素浓度增量,改进状态转移概率,进行蚁群算法的改进处理,实现无人船避障路线规划。结果表明,该算法可实现无人船避障路线规划,设计的避障路线长度相比改进前降低了40.39%、拐点数减少60%。
In order to improve the obstacle avoidance effect and obtain the shortest obstacle avoidance route with fewer inflection points,an ant colony programming algorithm for ship obstacle avoidance route in complex open waters is designed.On the basis of the raster processing of obstacles in complex open waters,based on the basic principle of ant colony algorithm,the comprehensive heuristic information combining the potential force and the position information of the target point is obtained,the pheromone concentration increment is optimized,the state transition probability is improved,and the ant colony algorithm is improved to realize the obstacle avoidance route planning of ships.The experimental results show that the algorithm can realize the planning of ship obstacle avoidance route,and the length of the designed obstacle avoidance route is reduced by 40.39%and the number of inflection points is reduced by 60%compared with that before improvement.
作者
陈改霞
叶萧然
CHEN Gai-xia;YE Xiao-ran(Hebi Institute of Engineering and Technology,Henan Polytechnic University,Hebi 458030,China)
出处
《舰船科学技术》
北大核心
2023年第20期101-104,共4页
Ship Science and Technology
基金
河南省高等学校重点科研项目(22B520018
22B470007)。
关键词
复杂开放水域
避障路线规划
蚁群算法
势场合力
信息素浓度
状态转移概率
complex open water bodies
obstacle avoidance route planning
ant colony
potential field resultant force
pheromone concentration
state transition probability
