Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm
This paper proposes an improved standard particle swarm optimization 2011 for autonomous underwater vehicles (AUVs). A mutation operator with a threshold is introduced to solve the problem of particles falling into the local extreme, and a nonlinear adaptive parameter strategy is introduced to accel...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/9/1253 |
| _version_ | 1827659995501559808 |
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| author | Bangshun Zhan Shun An Yan He Longjin Wang |
| author_facet | Bangshun Zhan Shun An Yan He Longjin Wang |
| author_sort | Bangshun Zhan |
| collection | DOAJ |
| description | This paper proposes an improved standard particle swarm optimization 2011 for autonomous underwater vehicles (AUVs). A mutation operator with a threshold is introduced to solve the problem of particles falling into the local extreme, and a nonlinear adaptive parameter strategy is introduced to accelerate the convergence speed. The proposed algorithm considers “path length”, “path safety”, “path smoothness” and “physical constraints” synthetically. For the specific navigation environment of AUVs, the path planning simulation is conducted based on MATLAB/Simulink, and the navigation guidance and control closed-loop simulation system is established. Simulation results show the effectiveness of the proposed algorithm. |
| first_indexed | 2024-03-09T23:32:01Z |
| format | Article |
| id | doaj.art-49a578c80e5347a2b670cff7a9d0ae51 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T23:32:01Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-49a578c80e5347a2b670cff7a9d0ae512023-11-23T17:07:14ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-09-01109125310.3390/jmse10091253Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization AlgorithmBangshun Zhan0Shun An1Yan He2Longjin Wang3College of Mechanical and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266061, ChinaCollege of Mechanical and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266061, ChinaCollege of Mechanical and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266061, ChinaCollege of Mechanical and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266061, ChinaThis paper proposes an improved standard particle swarm optimization 2011 for autonomous underwater vehicles (AUVs). A mutation operator with a threshold is introduced to solve the problem of particles falling into the local extreme, and a nonlinear adaptive parameter strategy is introduced to accelerate the convergence speed. The proposed algorithm considers “path length”, “path safety”, “path smoothness” and “physical constraints” synthetically. For the specific navigation environment of AUVs, the path planning simulation is conducted based on MATLAB/Simulink, and the navigation guidance and control closed-loop simulation system is established. Simulation results show the effectiveness of the proposed algorithm.https://www.mdpi.com/2077-1312/10/9/1253AUVspath planningimproved SPSO-2011 algorithmthree-dimensional guidance algorithm |
| spellingShingle | Bangshun Zhan Shun An Yan He Longjin Wang Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm Journal of Marine Science and Engineering AUVs path planning improved SPSO-2011 algorithm three-dimensional guidance algorithm |
| title | Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm |
| title_full | Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm |
| title_fullStr | Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm |
| title_full_unstemmed | Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm |
| title_short | Three-Dimensional Path Planning for AUVs Based on Standard Particle Swarm Optimization Algorithm |
| title_sort | three dimensional path planning for auvs based on standard particle swarm optimization algorithm |
| topic | AUVs path planning improved SPSO-2011 algorithm three-dimensional guidance algorithm |
| url | https://www.mdpi.com/2077-1312/10/9/1253 |
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