Path Planning of an Saucer-type Autonomous Underwater Glider based on Adaptive Quantum-behaved Particle Swarm Optimization

This paper is concerned with the path planning problem of a novel saucer-type autonomous underwater glider (AUG) in complex ocean environment. First, a multi-viscous Lamb vorticity superposition method is used to establish a marine environment model. Second, energy consumption model of the saucer-type AUG is built, and the B-spline method is presented to generate a smooth curve. Finally, a path planning method is constructed based on an adaptive quantum-behaved particle swarm optimization algorithm. Simulation results are provided to show the effectiveness of the proposed path planning method for saucer-type AUG.