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An A*-based Bacterial Foraging Optimisation Algorithm for Global Path Planning of Unmanned Surface Vehicles.
- Source :
-
Journal of Navigation . Nov2020, Vol. 73 Issue 6, p1247-1262. 16p. - Publication Year :
- 2020
-
Abstract
- The bacterial foraging optimisation (BFO) algorithm is a commonly adopted bio-inspired optimisation algorithm. However, BFO is not a proper choice in coping with continuous global path planning in the context of unmanned surface vehicles (USVs). In this paper, a grid partition-based BFO algorithm, named AS-BFO, is proposed to address this issue in which the enhancement is contributed by the involvement of the A* algorithm. The chemotaxis operation is redesigned in AS-BFO. Through repeated simulations, the relative optimal parameter combination of the proposed algorithm is obtained and the most influential parameters are identified by sensitivity analysis. The performance of AS-BFO is evaluated via five size grid maps and the results show that AS-BFO has advantages in USV global path planning. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ALGORITHMS
*REMOTELY piloted vehicles
*GRIDS (Cartography)
*SENSITIVITY analysis
Subjects
Details
- Language :
- English
- ISSN :
- 03734633
- Volume :
- 73
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- Journal of Navigation
- Publication Type :
- Academic Journal
- Accession number :
- 147014898
- Full Text :
- https://doi.org/10.1017/S0373463320000247