海洋环境下基于量子行为粒子群优化的时间最短路径规划方法

A time-optimal path planning method based on quantum-behaved particle swarm optimization in ocean environment

针对海洋环境下无人水下潜航器(UUV)的时间最短路径规划问题,提出了一种基于量子行为粒子群优化(QPSO)的路径规划方法,由此建立了海流模型、障碍物模型,并推导了衡量航行时间的代价函数。在两种不同案例下,对所提方法和基于粒子群优化(PSO)的方法进行仿真比较,结果表明:所提方法具有更强的鲁棒性,能够为UUV规划出一条时间更短的安全路径。

To deal with unmanned underwater vehicle（UUV）time-optimal path planning in ocean environment,apath planning method based on quantum-behaved particle swarm optimization（QPSO）is proposed.A current model and an obstacle model are established.A cost function of navigation time is formulated.In two different cases,the proposed method is compared with the planning method based on particle swarm optimization algorithm（PSO）.The results show that the proposed method has stronger robustness and obtains a better trajectory for UUV.