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Sci Rep

Title:		3D smooth path planning of AUV based on improved ant colony optimization considering heading switching pressure
Author(s):		Meng R; Sun A; Wu Z; Du X; Meng Y;
Address:		"Hubei Key Laboratory of Construction and Management in Hydropower Engineering, China Three Gorges University, Yichang, 443002, Hubei, China. Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance, China Three Gorges University, Yichang, 443002, Hubei, China. Intelligent Manufacturing Innovation Technology Center, China Three Gorges University, Yichang, 443002, Hubei, China. School of Management, Jinan University, Guangzhou, 510632, Guangdong, China. Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance, China Three Gorges University, Yichang, 443002, Hubei, China. zjwu@ctgu.edu.cn. Intelligent Manufacturing Innovation Technology Center, China Three Gorges University, Yichang, 443002, Hubei, China. zjwu@ctgu.edu.cn"
Journal Title:		Sci Rep
Year:		2023
Volume:		20230731
Issue:		1
Page Number:		12348 -
DOI:		10.1038/s41598-023-39346-5
ISSN/ISBN:		2045-2322 (Electronic) 2045-2322 (Linking)
Abstract:		"A smooth and secure spatial path planning algorithm that integrates the improved ant colony optimization with the corrective connected spatial search strategy is proposed, aiming at heavy heading switching pressure of autonomous underwater vehicles sailing in complex marine environment. On the one hand, to overcome the low-dimensional search domain and inaccurate spatial communication information in traditional spatial path planning, the spatial connectivity adjacency domain search strategy is designed based on grid environment model. On the other hand, to alleviate heading switching pressure due to large path steering angles and redundant path turning points, the heuristic functions and pheromone update criterion based on ant colony optimization are introduced to improve the solution quality of smooth paths. The simulation results show that the space search strategy can improve the success probability of safe path planning without reducing the scope of explorable free space. Additionally, the simulations demonstrate that the improved ant colony optimization using the spatial search strategy can guarantee the shortest path with lowest tortuous degree and fewest turning times in the same grid environment"
Keywords:
Notes:		"PubMed-not-MEDLINEMeng, Ronghua Sun, Aiwen Wu, Zhengjia Du, Xuan Meng, Yongdong eng 2020KSD15/Hubei Key Laboratory of Construction and Management in Hydropower Engineering??OChina Three Gorges University??dOpen Fund (/ 51975324/National Natural Science Foundation of China/ 52075292/National Natural Science Foundation of China/ 2022CFC033/Natural Science Foundation of Hubei Province/ England 2023/08/01 Sci Rep. 2023 Jul 31; 13(1):12348. doi: 10.1038/s41598-023-39346-5"