文档介绍：兵工学报
Acta Armamentarii
ISSN 1000-1093,CN 11-2176/TJ
行优化设计；借鉴拥挤度因子思想，改进传统蚁
群算法转移概率，提升算法的全局寻优能力。在对实际海洋环境数据进行栅格法建模的基础上，以路径
长度为衡量指标，利用 MATLAB 进行算法的仿真验证。实验结果表明融合算法的初期收敛速度较快，
最佳适应度值和算法耗时均得到改善，算法的有效性得以验证。
关键词：全局路径规划； 人工鱼群算法； 蚁群算法； 初始信息素分布； 拥挤度因子
中图分类号：; TP29 文献标志码： A 文章编号：1000-1093(2022)07-XX-XXX
DOI：.0215
Three-dimensional Global Path Planning for UUV Based on Artificial Fish Swarm
and Ant Colony Algorithm
HU Zhiyuan，WANG Zheng，YANG Yang，YIN Yang
(School of Electrical Engineering, Naval University of Engineering, Wuhan 430033, Hubei, China)
Abstract: Aiming at the global path planning problem of Underwater Unmanned Vehicle in a three-dimensional
environment, the fusion algorithm of artificial fish swarm algorithm and ant colony algorithm is studied from the
perspective of optimizing the initial pheromone distribution and transfer probability. In the fusion algorithm, the state
expression and moving step of artificial fish swarm algorithm are improved; the heuristic value and pheromone of
ant colony algorithm are optimiz