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Meng R, Sun A, Wu Z, Du X, Meng Y. 3D smooth path planning of AUV based on improved ant colony optimization considering heading switching pressure. Sci Rep 2023; 13:12348. [PMID: 37524812 PMCID: PMC10390500 DOI: 10.1038/s41598-023-39346-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/06/2022] [Accepted: 07/24/2023] [Indexed: 08/02/2023] Open
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.
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Affiliation(s)
- Ronghua Meng
- 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
| | - Aiwen Sun
- 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
| | - Zhengjia Wu
- 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.
| | - Xuan Du
- 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
| | - Yongdong Meng
- Hubei Key Laboratory of Construction and Management in Hydropower Engineering, China Three Gorges University, Yichang, 443002, Hubei, China
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