Research Of AUV Path Planning Based On Ant Colony Algorithm And Artificial Potential Field Algorithm

With the development of science and technology,the application range of underwater robot is more and more wide,because the underwater robot has a high level of intelligence.There are many determinants of the intelligent level of underwater vehicles,and path planning technology is one of them.Generally,path planning can be divided into global path planning and local path planning,while the working environment of mobile robot is changeable,so the effect of using global path planning or local path planning alone is not ideal.In order to make full use of the known environment information and respond to the unknown environment information in time,this paper proposes a hybrid path planning method for underwater vehicles.The main contents are as follows: 1.For global path planning,firstly,the grid method is used to model the known environmental information,and then the improved ant colony algorithm is used for path planning.In view of the shortcomings of the basic ant colony algorithm,an improved ant colony algorithm is proposed,which adopts a new heuristic function,pheromone update rule and dynamic adjustment of pheromone volatilization factor to make the ant move to the target point as much as possible,accelerate the convergence speed of the ant colony algorithm and reduce the search time.The simulation experiments are carried out in three grid map environments and the simulation results show that the path of the improved method is shorter,smoother and faster convergence.2.For local path planning,an improved artificial potential field method is proposed.For the problem of inaccessible target,the repulsive potential field function is reconstructed;for the problem of local minimum point,the escape method of "equal potential line circumscribed circle" is proposed;for the problem of dynamic obstacle,the escape method of "circumscribed circle around the back chord" is proposed;for the problem of step length,the dynamic adjustment strategy is proposed,and MATLAB simulation is carried out for theseproblems respectively.The simulation results show that The proposed improvement method is effective and can solve the problems well.3.Aiming at the defect of using one algorithm in path planning,this paper proposes a hybrid algorithm for path planning,and introduces the working principle and steps of the hybrid algorithm.Through simulation analysis,the results show that the hybrid algorithm is reasonable and can solve the defect of a single algorithm.