Track planning model of USV based on multi-granularity pattern ant colony algorithm

Aiming at the problem of cooperative track planning with multiple USV, a path planning method based on multi-grain pattern ant colony algorithm was proposed. The cost function of USV collaborative track planning was redefined. Meanwhile, the ant colony algorithm was studied and improved, and the multi-grain mode ant colony algorithm was proposed. The correctness of the proposed multi-grain mode ant colony algorithm was proved by the simulation of TSP problem. The multi-grain pattern ant colony algorithm proposed in this paper is applied to track planning. When dynamic threats occur, the heuristic evaluation function is constructed by using the rolling optimization method to guide the ants to search direction. Simulation results show that the proposed method can effectively avoid sudden mobile threats.