关键词: 水下机器人, 粒子群算法, 路径规划, 海流, 适应度函数

Abstract: The characteristics of the underwater vehicle's path planning in the ocean environment are as follows: broad planning range, relatively sparse obstacles, and inevitable impact of the ocean currents. The Particle Swarm Optimization (PSO) algorithm was adopted to realize the path planning of the underwater vehicle in the complex ocean environment. According to the parameters control strategies and topology models, an improved PSO algorithm with better constringency precision was obtained. During the programming, a fitness function was designed, which combined path length, ocean currents and shift cost of the underwater vehicle. By using this function, the adverse effects on the underwater vehicle's energy consumption and control performance caused by the ocean currents can be greatly reduced. The simulation results verify the effectiveness of this algorithm. Besides, the proposed algorithm can well meet the requirements of the path planning for the underwater vehicle in complex environment.

Key words: underwater vehicle, Particle Swarm Optimization (PSO) algorithm, path planning, ocean current, fitness function