Research on 3D global path planning technology for UUV based on fusion algorithm
Zhiyuan Hu, Zheng Wang, Yang Yin · Journal of Physics Conference Series · 2021
Abstract Aiming at the global path planning problem of unmanned underwater vehicle (UUV) in three-dimensional environment, a fusion algorithm named PACO based on particle swarm optimization (PSO) and ant colony optimization (ACO) is proposed. In order to meet the needs of three-dimensional path planning, the grid method is used to model the actual marine environmental data. Besides, PSO and ACO are optimized respectively. Taking the path length as the measurement index, the simulation is realized by using MATLAB. The simulation results show that the initial path search ability of the fusion algorithm is significantly improved, and the effectiveness of the algorithm is verified.