Study on Submarine Path Planning Based on Modified Ant Colony Optimization Algorithm

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Abstract
At present, submarine intelligent path planning is an essential subject due to electronic chart technology and improvement on navigation equipment when submarine sailing has been normalized. Based on hydrological environment, a new threat cost calculation method is proposed. The distance from the waypoint to the threat center and the length of the track in the threat area are added to the cost function. The pheromone update coalescing differential evolution algorithm is aimed to solve the problem that ant colony algorithm is subject to local optimization and lead to improve the performance of global search. Combined with the actual navigation status and navigation environment of the submarine, an improved strategy of state transition probability is proposed. Finally, with factors such as submarine sailing safety, concealment and endurance, simulation of submarine three-dimensional path planning under different tactical needs demonstrates that the method designed in this paper has engineering application value.