Technical Research on Underwater Robot Route Planning Based on Improved PSO Algorithm
Hongli Jia, Rendan Zhang, Shifeng Jia, Shuangyin Wang · 2024
In the path planning problem for underwater robots, traditional algorithms have many shortcomings. This paper plans the tasks of multiple autonomous underwater vehicles using bio-mathematical methods. Two methods of global route planning based on improved particle swarm optimization (PSO) algorithm and local real-time route planning based on improved PSO algorithm are analyzed. The improved PSO algorithm, GPSO and real-time route planning algorithm using RBF (Radial Basis Function) are simulated and verified.