AUV path planning method based on improved sparrow search algorithm

参数	数值
航行速度$ {\text{/(m}} \cdot {{\text{s}}^{ - 1}}) $	1
最小回转半径$ /\mathrm{m} $	5
最小俯仰角$ /(^\circ ) $	$ - 20 $
最大俯仰角$ /(^\circ ) $	$ 20 $
安全距离$ /{\text{m}} $	2
权重因子	$ {10^6} $
种群个数	$ 30 $
控制点个数	$ 10 $
最大迭代次数	$ 100 $

Table 2. AUV minimum/maximum voyage time in various environments

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Table 2. AUV minimum/maximum voyage time in various environments

环境	最短航行时间/s			最长航行时间/s
环境	PSO	SSA	ISSA	PSO	SSA	ISSA
1	532.0	504.3	414.9	1 401.1	849.6	637.5
2	494.9	344.1	345.8	1 165.2	599.9	546.6
3	577.1	310.0	286.4	1 927.1	560.0	636.4
4	506.5	318.9	303.9	1 522.3	743.1	645.5
5	504.9	393.8	293.9	2 119.7	632.4	628.4
6	748.2	524.4	461.3	3 915.8	1018.8	967.5
7	522.4	350.5	353.8	1 324.6	661.5	609.5
8	409.9	252.2	173.1	1 946.5	776.7	715.0
9	524.0	280.8	320.2	2833.1	725.8	675.8
10	329.4	285.1	271.9	763.7	609.0	537.2
11	727.4	521.2	451.2	2 509.7	1 082.2	1 015.2
12	482.5	332.4	322.6	1 469.2	607.9	560.8
13	586.0	297.6	235.4	3 566.5	752.7	705.1
14	686.8	386.0	351.5	3 496.2	676.5	970.5
15	534.5	435.9	295.2	2 715.2	785.9	604.5
16	327.7	322.9	203.0	1 977.5	798.6	603.4
17	505.8	330.7	347.3	1 120.2	665.3	602.2
18	395.9	305.6	294.6	1 224.6	615.8	631.6
19	788.3	566.8	474.1	3 775.7	1 238.3	771.8
20	386.9	320.5	328.4	1 224.1	648.0	643.1
均值	528.5	369.1	326.4	2 099.8	752.4	685.4

Table 3. AUV path planning average fitness table in various environments

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Table 3. AUV path planning average fitness table in various environments

环境	适应度
环境	PSO	SSA	ISSA
1	0.718	0.681	0.673
2	0.611	0.571	0.564
3	0.675	0.578	0.524
4	0.655	0.578	0.533
5	0.666	0.567	0.528
6	0.920	0.760	0.684
7	0.686	0.571	0.568
8	0.623	0.490	0.479
9	0.748	0.539	0.531
10	0.615	0.515	0.475
11	0.946	0.751	0.655
12	0.689	0.548	0.544
13	0.623	0.554	0.547
14	0.756	0.541	0.533
15	0.660	0.569	0.528
16	0.555	0.484	0.471
17	0.667	0.550	0.538
18	0.632	0.525	0.521
19	0.942	0.734	0.694
20	0.670	0.563	0.527
均值	0.703	0.583	0.556

Table 4. AUV minimum voyage time

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Table 4. AUV minimum voyage time

不确定性参数		平均最短航行时间/s
${\sigma_{\text{d}}}$/(°)	${\sigma _{\text{m}}}/( {{\text{m}} \cdot {{\text{s}}^{ - 1}}} )$	PSO	SSA	ISSA
20	0.20	354.6	269.3	264.1
20	0.15	351.3	248.6	246.8
20	0.10	351.1	257.1	246.6
20	0.05	309.9	252.1	247.8
15	0.20	386.8	272.1	271.1
15	0.15	328.7	270.2	265.4
15	0.10	367.2	263.7	264.8
15	0.05	359.4	273.6	261.9
10	0.20	372.2	283.3	281.8
10	0.15	371.0	276.8	274.7
10	0.10	345.3	285.2	272.6
10	0.05	363.1	282.8	277.5
5	0.20	363.2	290.9	288.8
5	0.15	349.7	292.9	290.5
5	0.10	437.9	294.8	286.4
5	0.05	403.8	300.7	295.4
均值		363.4	275.88	271.01

Table 5. AUV maximum voyage time table

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Table 5. AUV maximum voyage time table

不确定性参数		平均最长航行时间/s
${\sigma_{\text{d}}}$/(°)	${\sigma _{\text{m}}}/ ( {{\text{m}} \cdot {{\text{s}}^{ - 1}}} )$	PSO	SSA	ISSA
20	0.20	26 404.7	37 608.5	43 655.0
20	0.15	51 232.0	479 936.0	28 419.0
20	0.10	44 505.3	208 605.0	136 031.0
20	0.05	69 697 672.0	201 794.0	107 685.0
15	0.20	114 863 733.0	7 285.3	157 295.0
15	0.15	4 657.3	64 119.8	29 587.2
15	0.10	278 149.1	77 738.7	7 540.4
15	0.05	62 896.2	45 888.7	9 420.6
10	0.20	7 311.7	2 191.3	1 853.7
10	0.15	3 000.2	2 744.3	2 120.7
10	0.10	2 685.4	22 177.6	2 041.8
10	0.05	1 954.3	8 198.5	1 757.9
5	0.20	4 282.7	3 808.9	2 904.8
5	0.15	2 572.5	3 250.6	2 544.1
5	0.10	3 320.3	3 837.7	2 328.6
5	0.05	2 875.8	3 159.8	4 450.7
均值		11 566 078.4	73 271.6	3 3727.0

Table 6. Average fitness of AUV path planning

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Table 6. Average fitness of AUV path planning

不确定性参数		平均适应度
${\sigma_{\rm{d}}}$/（°）	$ \sigma_{\text{m}}/(\text{m}\cdot\text{s}^{-1}) $	PSO	SSA	ISSA
20	0.20	0.9173	0.7248	0.7008
20	0.15	0.9079	0.6897	0.6838
20	0.10	0.9085	0.7087	0.6971
20	0.05	0.8151	0.6988	0.6941
15	0.20	0.9247	0.6805	0.6660
15	0.15	0.8100	0.6655	0.6540
15	0.10	0.8706	0.6537	0.6420
15	0.05	0.8163	0.6482	0.6296
10	0.20	0.9011	0.6697	0.6543
10	0.15	0.8585	0.6619	0.6481
10	0.10	0.7996	0.6519	0.6404
10	0.05	0.7890	0.6349	0.6207
5	0.20	0.8353	0.6751	0.6593
5	0.15	0.8002	0.6778	0.6624
5	0.10	0.9553	0.6528	0.6380
5	0.05	0.8384	0.6461	0.6275
均值		0.8592	0.6713	0.6574

Table 7. Count analysis result of AUV path planning failure

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Table 7. Count analysis result of AUV path planning failure

不确定性参数		失败次数
${\sigma_{\text{d}}}$/(°)	${\sigma _{\text{m}}}/( {{\text{m}} \cdot {{\text{s}}^{ - 1}}} )$	PSO	SSA	ISSA
20	0.20	1 786	1 165	1 168
20	0.15	1 674	1 032	982
20	0.10	1 703	616	595
20	0.05	1 300	243	146
15	0.20	1 633	1 049	1 090
15	0.15	1 726	958	870
15	0.10	1 377	431	391
15	0.05	1 499	176	96
10	0.20	1 614	1 119	1 002
10	0.15	1 742	524	514
10	0.10	1 397	224	220
10	0.05	1 400	250	0
5	0.20	1 675	530	447
5	0.15	1 532	241	177
5	0.10	1 473	13	12
5	0.05	1 516	50	0
均值		1 566	539	482

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Lijun TANG, Yunxia FAN, Xingyu ZHOU, Qian SUN. AUV path planning method based on improved sparrow search algorithm[J]. Chinese Journal of Ship Research, 2025, 20(3): 275

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Paper Information

Category: Weapon, Electronic and Information System

Received: Dec. 8, 2023

Accepted: --

Published Online: Jul. 15, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03679

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology