Three-Dimensional Path Planning for AUVs Based on Interval Multi-Objective Secretary Bird Optimization Algorithm
Runkang Tang, Liang Qi, Shuxia Ye, Changjiang Li, Tian Ni, Jia Guo, Huan Liu, Yushan Li, Danfeng Zuo, Jiayu Shi, Jiajun Gong · Symmetry · 2025
Path planning is crucial for autonomous underwater vehicles (AUVs) and plays a vital role in ocean engineering. To improve the search efficiency and accuracy, this study proposed a three-dimensional path-planning method for AUVs based on the interval multi-objective secretary bird optimization algorithm (IMOSBOA). This method addressed path-planning challenges under imprecise current predictions and uncertain hazard source locations. First, the marine environment was modeled in three dimensions using the interval theory. Second, the danger levels and navigation times were set as the optimization objectives to construct a three-dimensional path-planning mathematical model. Finally, IMOSBOA was proposed and applied to solve the optimization problem. To verify the optimization performance of the new algorithm, its planning results were compared with those of the other algorithms. The simulation results demonstrated that the robustness and search capability of the proposed algorithm surpass those of comparative algorithms.