Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm
Joint Authors
Zhao, Yu-Xin
Liu, Chang
Gao, Feng
Liu, Liqiang
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-12
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Path planning is a classic optimization problem which can be solved by many optimization algorithms.
The complexity of three-dimensional (3D) path planning for autonomous underwater vehicles (AUVs) requires the optimization algorithm to have a quick convergence speed.
This work provides a new 3D path planning method for AUV using a modified firefly algorithm.
In order to solve the problem of slow convergence of the basic firefly algorithm, an improved method was proposed.
In the modified firefly algorithm, the parameters of the algorithm and the random movement steps can be adjusted according to the operating process.
At the same time, an autonomous flight strategy is introduced to avoid instances of invalid flight.
An excluding operator was used to improve the effect of obstacle avoidance, and a contracting operator was used to enhance the convergence speed and the smoothness of the path.
The performance of the modified firefly algorithm and the effectiveness of the 3D path planning method were proved through a varied set of experiments.
American Psychological Association (APA)
Liu, Chang& Zhao, Yu-Xin& Gao, Feng& Liu, Liqiang. 2015. Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074136
Modern Language Association (MLA)
Liu, Chang…[et al.]. Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1074136
American Medical Association (AMA)
Liu, Chang& Zhao, Yu-Xin& Gao, Feng& Liu, Liqiang. Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074136
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074136