Improved ant colony optimization for safe path planning of AUV.

ABSTRACT

In order to address the autonomous underwater vehicle navigation challenge for dam inspections, with the goal of enabling safe inspections and reliable obstacle avoidance, an improved smooth Ant Colony Optimization algorithm is proposed for path planning. This improved algorithm would optimize the smoothness of the path besides the robustness, avoidance of local optima, and fast computation speed. To achieve the goal of reducing turning time and improving the directional effect of path selection, a corner-turning heuristic function is introduced. Experimental simulation results show that the improved algorithm performs best than other algorithms in terms of path smoothness and iteration stability in path planning.