Affiliation:
1. Yichang Testing Technique Research Institute
Abstract
An improved ant colony algorithm based grid environment model for global path planning method for USV was introduced. The main idea of the improved ant colony algorithm was distributing each ant route dynamically. When the active ant was selecting the next route, this algorithm program determined the nearest direction to the end point. There were many possible route points which were distributed artificially. Thereby, the probability for each ant to choose the right direction was increased. The simulating results demonstrate that the improved ant colony algorithm in this paper is very suitable for solving the question of global path planning for USV system in the complex oceanic environment where there are a lot of obstacles. At the same time, this method costs less time, and the path is very smooth.
Publisher
Trans Tech Publications, Ltd.
Reference5 articles.
1. Wang Jiahai, Pang Xumin: A Study on BIW Welding Robot Path Planning based on Ant Colony Algorithm, in Manufacturing Automatization (2008).
2. Liu Yong, Wang Kehong, Yang Jingyu: Optical path modeling for redundant robot based on genetic algorithm, in Transations of the China Welding Institution (2007).
3. Yasuyoshi Kancko, Tatsuo Hosoda and Kenji Ohshima: Optimum Method of Working Assignment in Some Welding Robots with Genetic Algorithm, the 27th Annual Conference of the IEEE Industrial Electtonics Society (2001).
4. H. J. Kang and J. Y. Park: Work planning using genetic algorithm and 3D simulation at a subassembly line of shipyard (2004).
5. Meng Zhengda and Chen Qinqi: Hybrid Genetic-Ant Colony Algorithm Based Job Scheduling Method Research of Arc Welding Robot, in IEEE International Conference on Information and Automation (2010).
Cited by
20 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献