Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (4): 241-246.DOI: 10.3778/j.issn.1002-8331.1811-0042

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Path Planning for Wave Glider Based on Artificial Pathfinder Ant

CHEN Xi, GAO Junwei, GUAN Sheng   

  1. 1.College of Automation, Qingdao University, Qingdao, Shandong 266071, China
    2.The First Institute of Oceanography, State Oceanic Administration, Qingdao, Shandong 266061, China
  • Online:2020-02-15 Published:2020-03-06



  1. 1.青岛大学 自动化学院,山东 青岛 266071
    2.国家海洋局 第一海洋研究所,山东 青岛 266061


The Wave Glider(WG) is a kind of new monitoring platform of marine environment which is drove by ocean waves. An improved ant colony algorithm is proposed in this paper, which is used to realize the path planning of WG. The concept of artificial pathfinder ant is introduced, and the distribution of obstacles in the direction of feasible nodes is explored by the pathfinder ants in advance, and the distribution of obstacles is taken as a consideration for selecting the next node. If the obstacle distribution is complex, such as U-shaped trap, the node is abandoned. Then the main environmental factors affecting the speed of WG are considered, all the marine environmental factors are normalized to the speed of WG through the speed prediction model of WG, and introducing it into the algorithm’s node transfer state rule. Last, the pheromone update strategy of ant colony algorithm during iteration is improved by means of punishing the worst local path and rewarding the best local path. The experimental results show that the improved algorithm effectively avoids the algorithm deadlock and local optimal solution, and improves the convergence speed of the algorithm. The planned route distance is short and the security is high.

Key words: wave glider, artificial pathfinder ant, marine environment, path planning, ant colony algorithm



关键词: 波浪滑翔机, 人工探路蚁, 海洋环境, 路径规划, 蚁群算法