Abstract: To the submersible path planning problem in complex undersea environment, the submersible path planning method is put forward, which is based on an?ant colony algorithm?in the?seabed?3D grid?space. The bathymetric data which is extracted from the chart?is built into the?triangulation, after?the data is?random midpoint?displacement interpolation, the data is converted into?regular grid?data using?triangulation interpolation method, then it puts forward a?seabed terrain?grid?processing method and establishes the?seabed?3D?grid model. The ant colony?algorithm is improved and the?visual field of?particles is defined. It uses improved ant colony algorithm?iteration?compute to get an optimal?path in the?seabed grid?space. The experimental?simulation gets?a safe and concise path and it verifies the effectiveness and feasibility of the method.

Key words: path planning, submersible navigation, grid terrain, ant colony algorithm

摘要： 针对海底三维环境空间中的水下潜器路径规划问题，提出了一种采用蚁群算法在海底三维栅格空间中的潜器路径规划方法。对从海图中提取的水深数据建立三角网，经过随机中点位移插值后利用三角网内插生成规格网格数据，进而提出了海底地形栅格化处理方法，建立海底三维栅格化模型。对蚁群算法（ACO）进行了改进，定义了粒子的可视域。利用改进的蚁群算法在海底栅格空间中迭代求取最优路径。实验仿真得到了一条安全、简洁的路径，验证了该方法的有效性和可行性。

关键词: 路径规划, 潜器导航, 栅格地形, 蚁群算法