Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm
Bangshun Zhan, Shun An, Yan He, Longjin Wang
Abstract
This paper proposes an improved standard particle swarm optimization 2011 for autonomous underwater vehicles (AUVs). A mutation operator with a threshold is introduced to solve the problem of particles falling into the local extreme, and a nonlinear adaptive parameter strategy is introduced to accelerate the convergence speed. The proposed algorithm considers “path length”, “path safety”, “path smoothness” and “physical constraints” synthetically. For the specific navigation environment of AUVs, the path planning simulation is conducted based on MATLAB/Simulink, and the navigation guidance and control closed-loop simulation system is established. Simulation results show the effectiveness of the proposed algorithm.