CAJ | 학술논문

针对自主水下航行器在复杂、未知海洋环境中的路径规划难题，提出改进蚁群算法，建立具有31个巡航点的AUV（Au-tonomous Underwater Vehicle）路径规划模型。结合算法特点，对该模型进行仿真实验，通过实例分析了算法中相关参数对获取最优解的影响，得到了AUV巡航的最佳路径图。
침대자주수하항행기재복잡、미지해양배경중적로경규화난제，제출개진의군산법，건립구유31개순항점적AUV（Au-tonomous Underwater Vehicle）로경규화모형。결합산법특점，대해모형진행방진실험，통과실례분석료산법중상관삼수대획취최우해적영향，득도료AUV순항적최가로경도。
Aiming at the hard problem of path planning for autonomous underwater vehicle (AUV)in complex and unknown marine environment,we propose an improved ant colony algorithm,and establish an AUV path planning model with 3 1 cruising points.Combining the features of the algorithm,we carry out the simulation experiment,use the examples to analyse the effect of related parameters on obtaining the optimal solutions in the algorithm,and get best route map for AUV cruise.