An Intelligent Hybrid Algorithm for Smooth AUV Path Generation
Paramjeet Singh, Bhaskar Jyoti Talukdar, Rudra Narayan Dash, Bikramaditya Das · 2025
The development of effective multi-objective optimization strategies for Autonomous Underwater Vehicles (AUVs) operating in uncharted territories constitutes a considerable challenge. This endeavor necessitates the simultaneous minimization of travel time, reduction of path length, enhancement of navigational safety, and smoothing of trajectories. In light of these challenges, this research presents an innovative real-time path planning framework that seamlessly integrates Particle Swarm Optimization (PSO) with Simulated Annealing (SA), thereby enhancing AUV navigation within static environments. The PSO algorithm is utilized to generate optimal temporary waypoints across the scenarios examined, by balancing the crucial optimization parameters. Subsequently, an optimal path is formulated, informed by both the initial and terminal points. The efficacy of the proposed methodology is assessed through simulations conducted across three distinct maps. Each obstacle map demonstrates varying densities of obstacles. The outcomes of these simulations emphasize the robustness and adaptability of the proposed strategy, highlighting its ability to formulate optimal paths within complex underwater environments, irrespective of the arrangement of obstacles. The AUVs display remarkable agility in maneuvering through intricate underwater landscapes, adeptly avoiding debris and obstacles while preserving operational efficiency. This enhanced path planning technique not only elevates the responsiveness of the AUVs during critical missions—such as search and rescue operations and structural assessments—but also significantly bolsters their overall navigational safety. Through this research, we introduce a formidable tool for enhancing AUV capabilities in practical applications, ultimately facilitating more efficient underwater exploration and intervention.