关键词: 波浪滑翔机, 蚁群算法, 海洋环境, 路径规划, 模式转变

Abstract: With the shortage of land resources and the worsening of the environment, the development of marine resources has become an important way to alleviate the shortage of land resources. At this time, the wave glider based on the large-scale long-time series of ocean observation and the harsh environment come into being, and the path planning of the glider in the marine environment is also very important. The ant colony algorithm with good positive feedback mechanism and environment interaction is selected as the path planning algorithm for wave glider. Individuals are allowed to execute different schemes according to their location and environment at different periods. In the state transition formula, the directional memory factors and the marine environment factors that can simulate the actual environment are added. Finally, the best individuals are screened out by different individuals and the best and most efficient routes are planned. The results show that compared with the traditional ant colony algorithm, the improved ant colony algorithm presented in this paper is more efficient and time-saving in planning the route, and can adjust and make the most reasonable path planning according to the different marine environment.

Key words: wave glider, antcolony algorithm, marine environment, path planning, mode change