关键词: 蚁群算法, 无人驾驶船舶, 路径规划, 路径平滑, 栅格地图, 静态避障, 启发函数, B样条曲线

Abstract:

In view of the problems of USV path planning in complex environment, such as large steering angle, many turning points, and high energy consumption, a path planning and smoothing method based on improved ant colony optimization is proposed. The method adopts the grid method for environmental modeling, and improves the path optimization and static obstacle avoidance ability by introducing the path smoothness and distance heuristic factor into the heuristic function and introducing the obstacle heuristic factor into the path transition probability. Combined with heuristic factors, the pheromone update standard is improved, and the adaptability of the algorithm to increase the volatile factor of pheromone can be adjusted. And then the key nodes of the optimal path are extracted and smoothed to further guarantee path smoothness and security. According to the simulation results of obstacle avoidance under different grid map, compared with the traditional ACO, the path optimization speed of improved ACO is increased by 45%~62%, and the steering times of path is reduced by 25%~44 %. Moreover, the path security and feasibility after smoothing are improved. The above results show that the autonomous path planning of USV in different environments is realized.

Key words: ant colony algorithm, unmanned surface vehicle, path planning, path smoothing, grid map, collision avoidance, heuristic function, B-spline curve