Research on AUV Energy Saving 3D Path Planning with Mobility Constraints

This paper aims to focus on the path planning problem of AUV in marine environment. As well as considering length and safe obstacle avoidance, ocean currents should not be ignored main factor affecting navigation energy consumption AUV. At same time, satisfy mobility constraint AUV; otherwise, is inaccessible For above problems, this presents a algorithm based an improved particle swarm (EPA-PSO); fitness function designed length, consumption, constraints. The updated law velocity initialization particles are improved, possible optimal solutions stored feasible solution set; finally, obtained by comparison. local jumping ability given so that can jump out solution. simulation experiment compared with traditional PSO algorithm. results show EPA-PSO proposed used three-dimensional process. It effectively save make requirements maneuverability. field was completed Shanghai, China, proved it obtain satisfying maneuverability constraints for problems studied paper.