摘要
提出了基于蚁群算法(ACA)实现AUV对运动目标避碰规划的方法。该方法把避碰、路径最短和航迹跟踪等约束条件映射为目标函数,使得路径搜索过程快速高效。计算机仿真表明:该方法使AUV能够较好地实现对运动目标的避碰;由此说明此项研究具有一定的可行性和有效性。
The paper proposes a method based on Ant Colony Algorithm（ACA）which can realize the collision avoidance for AUV with moving objects. The method maps the constraint conditions such as collision avoidance, shortest path and trace keeping into object function, which makes path search fast and efficient. Simulations display that the method can make AUV avoid collision with moving objects,thus the research has certain feasibility and validity.
出处
《舰船科学技术》
北大核心
2007年第6期86-89,共4页
Ship Science and Technology
关键词
AUV
蚁群算法
避碰
动目标
AUV
Ant Colony Algorithm
collision avoidance
moving object
