Quantum mechanics

Robot

Algorithm

Motion planning

Ant colony optimization algorithms

Computer science

Mathematical optimization

Path length

Computer network

Physics

Mathematics

Ant colony

Smoothness

Mathematical analysis

Path (computing)

Artificial intelligence

Quantum

Mathematical Problems in Engineering

As a tool to monitor marine environments and to perform dangerous tasks instead of manned vessels, unmanned surface vehicles (USVs) have extensive applications. Because most path planning algorithms have difficulty meeting the mission requirements of USVs, the purpose of this study was to plan a global path with multiple objectives, such as path length, energy consumption, path smoothness, and path safety, for USV in marine environments. A global path planning algorithm based on an improved quantum ant colony algorithm (IQACA) is proposed. The improved quantum ant colony algorithm is an algorithm that benefits from the high efficiency of quantum computing and the optimization ability of the ant colony algorithm. The proposed algorithm can plan a path considering multiple objectives simultaneously. The simulation results show that the proposed algorithm’s obtained minimum was 2.1–6.5% lower than those of the quantum ant colony algorithm (QACA) and ant colony algorithm (ACA), and the number of iterations required to converge to the minimum was 11.2–24.5% lower than those of the QACA and ACA. In addition, the optimized path for the USV was obtained effectively and efficiently.

Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm