Optimisation of autonomous ship manoeuvres applying Ant Colony Optimisation metaheuristic

Authors:
Jose B. Escario;Juan F. Jimenez;Jose M. Giron-Sierra
Affiliations:
Arquitectura de Computadores y Automatica, Universidad Complutense de Madrid, Av. Complutense s/n, 28040 Madrid, Spain;Arquitectura de Computadores y Automatica, Universidad Complutense de Madrid, Av. Complutense s/n, 28040 Madrid, Spain;Arquitectura de Computadores y Automatica, Universidad Complutense de Madrid, Av. Complutense s/n, 28040 Madrid, Spain
Venue:
Expert Systems with Applications: An International Journal
Year:
2012

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Abstract

This paper introduces the use of a swarm algorithm, derived from Ant Colony Optimisation, to solve path planning problems for autonomous vehicles. The purpose is to obtain optimal trajectories for manoeuvres of Autonomous Surface Vessels. The algorithm works with a model of the vehicle, and the solutions achieved are always feasible. With enough time, it can also obtain trajectories very close to the optimal. Provided the appropriate modifications the algorithm can be applied to solve other combinatorial optimisations problems with a non restricted number of feasible solutions. The methodology is tested through simulations on open sea manoeuvres and scenarios with the presence of obstacles.