Path planning of underwater vehicle based on particle swarm optimization

Abstract

The particle swarm optimization is applied to path planning of the underwater vehicle. Firstly, the purpose of dimensionality reduction by the transformation of spatial coordinates and slicing of 3D space is achieved. Secondly, an effective path function and a rotation frequency function are defined. Then the path planning problem is changed into solving the optimization problem, and there are some improvements in the program in order to meet project needs. Finally, through the simulation, the feasibility and effectiveness of the program is proved.