Abstract In order to solve the unmanned underwater vehicle two-dimensional autonomous path planning problem in the environment affected by ocean current and obstacles, this paper applies the improved Fireworks-Ant Colony Hybrid Algorithm to solve it. Firstly, a two-dimensional Lamb vortex ocean current environment model with randomly distributed obstacles is established, and the circular obstacle is equivalent to a square grid. Then, the mathematical model of path planning is established considering the energy consumption cost, navigation time cost and navigation distance cost. Finally, the improved fireworks-ant colony hybrid algorithm is applied to solve the nonlinear optimization problem, and this algorithm is compared with the basic ant colony algorithm for simulation experiments in the four different marine environments. The experimental results show that this algorithm can quickly find the global optimal solution, and the more complex the environment, the more obvious its advantages. The algorithm proposed in this paper provides a new way for autonomous path planning of underwater vehicles.

中文翻译：

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基于改进烟花蚁群算法的海流环境下无人潜艇避障路径规划

摘要 为了解决受洋流和障碍物影响的无人水下航行器二维自主路径规划问题，本文采用改进的Fireworks-Ant Colony混合算法进行求解。首先建立了障碍物随机分布的二维Lamb涡旋洋流环境模型，圆形障碍物相当于一个方形网格。然后，建立考虑能耗成本、导航时间成本和导航距离成本的路径规划数学模型。最后，将改进的烟花-蚁群混合算法应用于非线性优化问题的求解，并将该算法与基本蚁群算法进行对比，在四种不同海洋环境下进行仿真实验。实验结果表明，该算法能够快速找到全局最优解，且环境越复杂，其优势越明显。本文提出的算法为水下航行器的自主路径规划提供了一种新的途径。