Path Planning of Multi-Objective Underwater Robot Based on Improved Sparrow Search Algorithm in Complex Marine Environment

Autonomous underwater vehicle (AUV) path planning in complex marine environments meets many chanllenges, such as many influencing factors, complex models and the performance of the optimization algorithm to be improved. To find a path with minimum cost of the actual environmental threats, navigation...

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Vydané v:Journal of marine science and engineering Ročník 10; číslo 11; s. 1695
Hlavní autori: Li, Bin, Mao, Jianlin, Yin, Shuyi, Fu, Lixia, Wang, Yan
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Basel MDPI AG 01.11.2022
Predmet:
Adaptive algorithms
Algorithms
Altitude
Autonomous underwater vehicles
AUV path planning
Convergence
Energy consumption
Environmental impact
Flow velocity
Food
Foraging behavior
global optimality
improved sparrow search algorithm
Jumping
Marine environment
Methods
Minimum cost
Mutation
Navigation
Ocean currents
Optimization
Optimization algorithms
Path planning
Search algorithms
Search methods
Threats
time-varying currents
Underwater robots
Underwater vehicles
ISSN:2077-1312, 2077-1312
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Shrnutí:Autonomous underwater vehicle (AUV) path planning in complex marine environments meets many chanllenges, such as many influencing factors, complex models and the performance of the optimization algorithm to be improved. To find a path with minimum cost of the actual environmental threats, navigation height changes and the minimum energy consumption of the AUV, an improved sparrow search algorithm is designed under the impact of the time-varying characteristics of the current in the complex marine environment on the AUV and the physical constraints of the AUV movement. In the proposed algorithm, an adaptive weight factor balance strategy is introduced into the position update of the discoverer to improve the convergence speed and search ability. In the follower position, the variable spiral search strategy is improved based on the position update formula to enhance the local jumping ability of the algorithm. After the position update, Levy flying strategy is added, and Cauchy–Gaussian mutation is performed on the optimal individual to increase the population diversity, which improves the anti-stagnation ability of the algorithm. Finally, the AUV global path with minimum cost in the sense of multi-objective weighting is obtained. The simulation results show that the proposed algorithm can plan a path with less cost and quickly converge to an optimized point, and finally it can meet the global path planning requirements of AUV when navigating in complex sea areas.
Bibliografia:ObjectType-Article-1
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ISSN:2077-1312
2077-1312
DOI:10.3390/jmse10111695