A path optimization algorithm for AUV using an improved ant colony algorithm with optimal energy consumption

作者：Liu Guijie; Liu Peng; Mu Weilei^*; Wang Shoujun

来源：Journal of Xi'an Jiaotong University, 2016, 50(10): 93-98.

DOI：10.7652/xjtuxb201610014

• Ant colonies
• Ant colony algorithms
• Distance
• Hydrodynamic analysis
• Improved ant colony algorithm
• Optimal energy
• Path optimizations
• Stress modeling

A path optimization algorithm for autonomous underwater vehicles is proposed to solve the problem of the shortest distance with not the lowest energy consumption in the traditional path optimization algorithm. The algorithm bases on an improved ant colony algorithm with optimal energy consumption. A stress model of movement process of AUV in water is built by studying the hydrodynamic analysis of AUV and a formula to calculate the energy consumption of AUV moving path is derived. Then, the improved ant colony algorithm with optimal energy consumption is presented. The inverse of the path energy consumption is used as a path pheromone value to guide evaluation of ant colonies by energy consumption. Experimental results show that the proposed algorithm uses 22 iterations to plan a 433.51 m long path with 12 235.17 J AUV energy consumption, while a traditional algorithm uses 33 iterations to plan a 393.65 m long path with 12 864.99 J AUV energy consumption. The path distance planned by the proposed algorithm is 10% longer than that planned by the traditional algorithm, but it's energy consumption is lower by 5%. It is clear that the algorithm has advantages of reducing the energy consumption and improving the battery life.

• 出版日期2016