Research on Patrol Path Planning Based on Ant Colony Optimization for Unmanned Surface Vessels

An important role in maritime patrol is played by the unmanned surface vessel (USV). By modeling the navigation environment of a USV, the ant-cycle model is then incorporated into the ant colony optimization (ACO) algorithm to output the best way for USV patrols. By setting different patrol points for simulation experiments, the ACO algorithm shows good convergence and merit-seeking ability than other methods.