Research on Global Ship Path Planning Method Based on Improved Ant Colony Algorithm

To solve the global path planning problem of ship in static and dynamic environment, we propose an improved ant colony algorithm to plan ship’s navigation path. We use artificial potential field method compute force direction at initial iteration stage. The attraction function is modified improve efficiency hybrid algorithm. design pseudo-random state transition rule convergence by strengthening selection good paths. When updating pheromone, consider path’s length, safety, smoothness a safer simulation results show that has faster speed than original optimal solution quality higher, which can realize environments.