UUV path planning method based on QPSO

Path planning is the basic requirement for unmanned underwater vehicle (UUV) to complete tasks. According to the requirements of UUV path planning in working environment, a path planning method for UUV based on QPSO algorithm is proposed in this paper. Firstly, the obstacles in the environment are divided into known obstacles and unknown obstacles. For static obstacles in the known environment, an annular space model is established and the global path planning method based on QPSO is designed. According to the fitness value of each particle in the iterative process of QPSO algorithm, an optimization method of particle classification evolution is proposed. Then, based on the realtime information of unknown obstacles detected by UUV forward-looking sonar, a local collision avoidance method is proposed based on the rolling window method and QPSO algorithm. Finally, a simulation platform is built to verify the proposed path planning method, and the feasibility of the method is verified by experimental simulation.