Path Planning Method for AUV Docking Based on Adaptive Quantum-Behaved Particle Swarm Optimization

Zeyu Li, Weidong Liu, Li-e Gao, Le Li, Feihu Zhang
2019 IEEE Access  
AUV docking requires the platform to have both wide range cruising and accurate operating abilities, to against challenges of ocean currents, obstacles, and constraints. This paper proposed an evolutionary-based method, for the purpose of docking path optimization. First, the ocean environment and constraints are analyzed and modeled. Next, the control points are designed to satisfy the model constraints. Then, the adaptive law and quantum behavior are introduced in particle swarm optimization
more » ... PSO), to achieve global time-optimization. Finally, the proposed approach is evaluated via Monte-Carlo trials, which demonstrates a significant improvement with respect to the state-of-the-art approaches. INDEX TERMS AUV docking, path optimization, quantum behaved evolutionary algorithm.
doi:10.1109/access.2019.2922689 fatcat:pwfkkue65rhzff3plvdqw6xsui