基于Dubins-双蚁群算法的搜潜航路规划  

Aerial Submarine Search Route Planning Based on Dubins-Double Ant Colony Optimization

作　　者：王牧原 马良荔[1] 陈鹏先 刘立国 WANG Muyuan;MA Liangli;CHEN Pengxian;LIU Liguo(Naval University of Engineering,Wuhan 430000,China;No.92975 Unit of PLA,Ningbo 315000,China)

机构地区：[1]海军工程大学,武汉430000 [2]中国人民解放军92975部队,浙江宁波315000

出　　处：《电光与控制》2023年第7期106-110,共5页Electronics Optics & Control

摘　　要：针对航空搜潜浮标距离近、偏航角较大的特点,提出Dubins路径和双蚁群算法相结合的航路规划算法。对比传统航路规划先确定直线航路再进行平滑处理的方式,所提算法在迭代寻路阶段将直线路径转化为Dubins路径,减少了转弯半径约束下无法抵达目标的风险;同时以Dubins距离作为判优基准,相比直线距离,更加接近全局最优;并且增加偏航距离扰动参数,引导蚂蚁选择直线距离和偏航角均较小的目标;发挥不同蚁群的信息素负反馈作用,促使寻找新路径,提升寻路能力。仿真结果表明,该算法加快了规划收敛速度,有效缩短了航路距离,缩短幅度平均达14.6%以上。According to the characteristics of close distance and large yaw angle of aerial submarine search buoy,a route planning algorithm combining Dubins path and double ant colony algorithm is proposed.Compared with the traditional route planning that the linear route is firstly determined and then smoothed,the algorithm converts the straight path into the Dubins path in the iterative pathfinding stage,which reduces the risk of not reaching the target under the constraint of the turning radius,and the Dubins distance is used as the benchmark for judging,which is closer to the global optimal than the straight-line distance.Moreever,the parameters of yaw distance disturbance are added to guide ants to choose targets with smaller straight-line distance and yaw angle,and use the negative feedback of pheromones in different ant colonies to promote the search for new paths and improve the wayfinding ability.The simulation results proves that the algorithm accelerates the convergence speed of planning,effectively shortens the total distance of the route,and the average shortening range is more than 14.6%.

关 键 词：航空搜潜 航路规划 Dubins路径 蚁群算法 

分 类 号：E953[军事—军事工程] TP301.6[自动化与计算机技术—计算机系统结构]