A comparison of optimization techniques for AUV path planning in environments with ocean currents |
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| Affiliation: | 1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;2. Centre for Maritime Engineering, Control and Imaging, School of Computer Science, Engineering and Mathematics, Flinders University, SA, Australia;3. Institute of Oceanology, Shanghai Jiao Tong University, Shanghai 200240, China;4. Qingdao Collaborative Innovation Center of Marine Science and Technology, China;1. Centre for Maritime Engineering, Control and Imaging School of Computer Science, Engineering and Mathematics Flinders University, Australia;2. National Centre for Maritime Engineering & Hydrodynamics, University of Tasmania, Australia |
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| Abstract: | To date, a large number of optimization algorithms have been presented for Autonomous Underwater Vehicle (AUV) path planning. However, little effort has been devoted to compare these techniques. In this paper, an quantum-behaved particle swarm optimization (QPSO) algorithm is introduced for solving the optimal path planning problem of an AUV operating in environments with ocean currents. An extensive study of the most important optimization techniques applied to optimize the trajectory for an AUV in several test scenarios is presented. Extensive Monte Carlo trials were also run to analyse the performance of these optimization techniques based on solution quality and stability. The weaknesses and strengths of each technique have been stated and the most appropriate algorithm for AUV path planning has been determined. |
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| Keywords: | Autonomous underwater vehicle Path planning Optimization |
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