Path Planning Based on Hybrid Adaptive Ant Colony Algorithm for AUV

Ant Colony Algorithm is one of the important methods in dealing with the NP-hard problem. In order to overcome the deficiencies of the algorithm effectively such as slow convergence, easy to fall into local optimal solution, a hybrid adaptive ant colony algorithm was proposed and it has been used in the AUV path planning problem. We established a mathematical model for it and made a practical engineering example for simulation and analysis of the correlative parameters to the influence on the algorithm. Finally we get the optimal path and the best preferences of parameters. The experimental results show that the proposed method in this paper is effective, realistic, easy and versatile.