Three-dimensional path planning for AUVs in ocean currents environment based on an improved compression factor particle swarm optimization algorithm

Abstract

Three-dimensional path planning for autonomous underwater vehicles (AUVs) in underwater environments is the key to ensuring safe navigation and reliable mission completion. To obtain a safe and smooth three-dimensional path for an AUV in ocean currents and seabed obstacle environments, an improved compression factor particle swarm optimization algorithm is proposed. First, a three-dimensional seabed environment model and Lamb vortex current environment model are constructed. Second, by considering optimization objectives such as travel distance cost, seabed terrain constraints and ocean current constraints, a three-dimensional path planning mathematical model is constructed. Finally, an improved compression factor particle swarm optimization algorithm is proposed and applied to solve the multi-objective nonlinear optimization problem. To verify the optimization performance of the new algorithm, its optimization results are compared with those of other algorithms by minimizing the fitness value. The experimental results reveal that the improved compressed factor particle swarm optimal algorithm has better planning efficiency, path quality, and shorter planning time, which provides a new effective method for path planning of autonomous underwater vehicle.