Application of an improved ant colony algorithm based on unevenly distributed pheromone and multi-objective optimization in path planning for unmanned surface vehicles

Guobing XIE; Wei HE; Wangwen HU; Yixin Su; Binghua SHI

doi:10.19693/j.issn.1673-3185.04207

Chinese Journal of Ship Research, Volume. 20, Issue 1, 115(2025)

Application of an improved ant colony algorithm based on unevenly distributed pheromone and multi-objective optimization in path planning for unmanned surface vehicles

Guobing XIE¹, Wei HE¹, Wangwen HU¹, Yixin Su¹, and Binghua SHI^2,3

Author Affiliations

¹School of Automation, Wuhan University of Technology, Wuhan 430070, China

²Hubei Key Laboratory of Digital Finance Innovation, Wuhan 430205, China

³School of Information Engineering, Hubei University of Economics, Wuhan 430205, China

show less

Abstract Get PDF Get PDF(in Chinese)

Figures & Tables(10)

Fig. 1. [in Chinese]

Fig. 2. [in Chinese]

Fig. 3. [in Chinese]

Fig. 4. [in Chinese]

Fig. 5. [in Chinese]

Fig. 6. [in Chinese]

Fig. 7. [in Chinese]

Fig. 8. [in Chinese]

Table 1. Algorithm simulation parameter settings
View table
View in Article
Table 1. Algorithm simulation parameter settings
参数数值
蚂蚁数目 100
迭代次数 500
信息素因子 1
启发函数因子 7
信息素挥发因子 0.3
PRM随机撒点数 600
PRM连线最大距离 310

Table 2. Experimental results of four algorithms for path planning

View table

View in Article

Table 2. Experimental results of four algorithms for path planning

算法	能耗/m		安全指数		路径曲折度		路径评估值		运行时间/s
算法	地图1	地图2	地图1	地图2	地图1	地图2	地图1	地图2	地图1	地图2
传统蚁群算法	242.09	197.06	0.53	0.64	108.13	95.94	2426.40	2169.99	240.86	241.61
A*算法	100.08	86.60	0.51	0.50	10.63	8.75	526.97	480.28	867.98	672.13
改进蚁群算法	230.28	130.27	0.55	0.65	102.68	58.98	2321.02	1428.46	240.51	219.51
本文算法	92.69	82.94	0.63	0.73	8.55	5.71	514.91	467.57	200.53	208.23

Tools

Get Citation

Copy Citation Text

Guobing XIE, Wei HE, Wangwen HU, Yixin Su, Binghua SHI. Application of an improved ant colony algorithm based on unevenly distributed pheromone and multi-objective optimization in path planning for unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 115

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites