引用格式:王牧原，马良荔，陈鹏先，等．基于Dubins－双蚁群算法的搜潜航路规划［J］．电光与控制，2023，30(7):106-110．WANGMY,MALL,CHENPX,etal．AerialsubmarinesearchrouteplanningbasedonDubins-doubleantcolonyoptimization［J］．ElectronicsOptics＆Control,2023,30(7):106-110．基于Dubins－双蚁群算法的搜潜航路规划王牧原1，2，马良荔1，陈鹏先1，刘立国1(1．海军工程大学，武汉430000;2．中国人民解放军92975部队，浙江宁波315000)摘要:针对航空搜潜浮标距离近、偏航角较大的特点，提出Dubins路径和双蚁群算法相结合的航路规划算法。对比传统航路规划先确定直线航路再进行平滑处理的方式，所提算法在迭代寻路阶段将直线路径转化为Dubins路径，减少了转弯半径约束下无法抵达目标的风险;同时以Dubins距离作为判优基准，相比直线距离，更加接近全局最优;并且增加偏航距离扰动参数，引导蚂蚁选择直线距离和偏航角均较小的目标;发挥不同蚁群的信息素负反馈作用，促使寻找新路径，提升寻路能力。仿真结果表明，该算法加快了规划收敛速度，有效缩短了航路距离，缩短幅度平均达14．6%以上。关键词:航空搜潜;航路规划;Dubins路径;蚁群算法中图分类号:E953;TP301．6文献标志码:Adoi:10．3969/j．issn．1671－637X．2023．07．019AerialSubmarineSearchＲoutePlanningBasedonDubins-DoubleAntColonyOptimizationWANGMuyuan1，2,MALiangli1,CHENPengxian1,LIULiguo1(1．NavalUniversityofEngineering,Wuhan430000,China;2．No．92975UnitofPLA,Ningbo315000,China)Abstract:Accordingtothecharacteristicsofclosedistanceandlargeyawangleofaerialsubmarinesearchbuoy,arouteplanningalgorithmcombiningDubinspathanddoubleantcolonyalgorithmisproposed．Comparedwiththetraditionalrouteplanningthatthelinearrouteisfirstlydeterminedandthensmoothed,thealgorithmconvertsthestraightpathintotheDubinspathintheiterativepathfindingstage,whichreducestheriskofnotreachingthetargetundertheconstraintoftheturningradius,andtheDubinsdistanceisusedasthebenchmarkforjudging,whichisclosertotheglobaloptimalthanthestraight-linedistance．Moreever,theparametersofyawdistancedisturbanceareaddedtoguideantstochoosetargetswithsmallerstraight-linedistanceandyawangle,andusethenegativefeedbackofpheromonesindifferentantcoloniestop...
