Table 3 Parameter settings.

From: 3D smooth path planning of AUV based on improved ant colony optimization considering heading switching pressure

\(\alpha\)

1.5

1.5

1.5

\(\beta\)

10

10

10

\(Q\)

1

1

1

\(\rho\)

0.5

\(\rho (t + 1) = \max [0.95\rho (t),0.1]\)

\(\rho (t + 1) = \frac{1}{2\sqrt \pi }e^{{ - \frac{{(\rho (t) - \rho_{f} (t))^{2} }}{2}}}\)