Underwater glider 3D path planning with adaptive segments and optimal motion parameters based on improved JADE algorithm

Abstract

This paper presents a novel 3D path planning method for the underwater glider (UG) that incorporates adaptive segment strategy, motion parameters optimization, and an improved JADE algorithm. The method aims to generate an energy-efficient path by adapting to ocean currents and seabed topography and selecting favorable motion parameters. We establish an energy consumption model for a blended-wing-body UG, examining the influence of motion parameters and ocean currents on its performance. The proposed method encodes an energy-optimal gliding path through multiple path segments, each defined by a set of path points, pitch angles, and diving depths. The fitness function, based on energy consumption, guides the optimization process. To enhance the optimization, we present an improved JADE algorithm with multi-mutation strategies, which adaptively updates the mutation operation and mean crossover probability. Our method was assessed and compared with a classical UG path planning method on 6 test scenarios. Simulation results confirm that adaptive segments and motion parameter optimization contribute to better adaptation to ocean environments and reduced energy consumption.