改进蚁群算法水面无人艇平滑路径规划

Improved ant colony algorithm for unmanned surface vehicle smooth path planning

中文关键词  蚁群算法  路径规划  路径平滑  算法优化

英文关键词  Ant colony algorithm  path planning  path smoothing  algorithm optimization

中文摘要

      针对水面无人艇的路径规划, 首先用仿生学算法对环境障碍物做开运算, 提出改进的蚁群算法搜索可行路 径得到航路点序列, 优化合并没有障碍物的相邻航路点并顺序连接, 得到可行且无碰撞风险的全局路径; 其次, 使 用Dubins曲线算法对连接点进行平滑处理, 分析其几何特性并找出其不足之处; 最后, 引入贝塞尔三阶曲线理论对 于已经优化过的折线段进行平滑处理, 使其在满足最小旋转半径的同时, 也满足USV动力学特性, 最终得到一条优 化可行的路径. 仿真结果证明本算法设计的光滑路径在计算复杂度、路径优化等方面都有了较大的提高.

英文摘要

      For the path planning strategy of the unmanned surface vehicle (USV). Firstly, method of bionics opening operation algorithm was proposed to calculate the environmental obstacles, and then an improved ant colony algorithm was implemented to obtain way-points sequence for searching for feasible path. Those adjacent way-points which have no obstacles were optimized and merged, and then were connected sequentially. A feasible global path without collision risk was achieved. Secondly, Dubins curve algorithm was applied to smooth the connected points and its shortcomings were pointed out through analyzing its geometric characteristics. Finally, third-order Bezier curve theory was introduced to smooth the optimized poly-line segment path, which not only meet the minimum radius of rotation but also the dynamic characteristics of USV. An optimized feasible path was then obtained. The simulation results also proved that the proposed methods were greatly improved in terms of computational complexity and path optimization compared with other algorithms.