Abstract:Path planning of Unmanned Underwater Vehicle (UUV) is of considerable significance for the underwater navigation, the objective of the path planning is to find an optimal collision-free and the shortest trajectory from the start to the destination. In this paper, a new improved particle swarm optimization (IPSO) was proposed to process the global path planning in a static underwater environment for UUV. Firstly, the path planning principle for UUV was established, in which three cost functions, path length, ex… Show more
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