Through the study of ACOTSP, it is found that the previous ant colony algorithm will fall into local optimal when increasing pheromone concentration factor. In order to solve the problem, we through the improved pheromone concentration factor to view your traveling salesman solving process, through the simulation experiments found that due to the pheromone concentration gradually increased with the number of iterations, pheromone concentration and pheromone concentration factor exponential relationship, lead to appear even if the distance is large move also can appear probability is very high. In this design, the ant colony algorithm is optimized by introducing firefly algorithm (FA): the ant colony movement deviation is avoided by adding disturbance factor; and the migration probability caused by excessive pheromone concentration is solved by adding function relation between moving distance and pheromone concentration. Simulation results show that the optimized algorithm has better results and is not easy to fall into local optimum.
With the development of intelligent control and modern communication technology, Unmanned Surface Vessel (USV) will soon become another important unmanned platform after drones and unmanned vehicles. Unmanned vessel are easily disturbed by wind, waves and currents during navigation. Solving the problem of unmanned vessel’s course keeping control during navigation has become one of the key technologies in the research of unmanned vessel. Aiming at the course control problem of the unmanned vessel in the course of navigation, this paper firstly carried out mathematical modeling and data analysis on the dynamic model of the experimental unmanned vessel, carried out related design simulations and experiments through the constructed model, and propose an optimal control strategy based on PID controller. On this basis, the accuracy and effectiveness of the control strategy proposed in this paper are verified through a simulation platform, which can ensure the course stability of the unmanned vessel during the navigation process. Key technologies such as UAV obstacle avoidance and coordination provide a theoretical basis.
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