Abstract
Keywords: Underwater terrain-aided navigation;Path planning;Ant colony algorithm;Particle filter Abstract. In order to ensure sufficient terrain information for the underwater terrain-aided navigation, a global path planning method based on Ant Colony Algorithm (ACA) is proposed. The concept of feasible region is firstly defined, and then pheromone representation, heuristic functions and pheromone updating rules are discussed in detail. Thirdly, ACA considering comprehensively navigation tasks and terrain information is studied on the basis of real terrain data. Finally, Simulative verification with Particle Filter (PF) navigational algorithm on the given path is conducted. The results show that the proposed path planning method can achieve good performance in underwater terrain-aided navigation.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
