To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the conc...To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the concept of particle sight distance,an improved algorithm,called SD-IPSO,is proposed for the real-time autonomous navigation of USVs in marine environments.The algorithm refines the individual behavior pattern of particles in the population,effectively improving both local and global search capabilities while avoiding premature convergence.The effectiveness of the algorithm is validated using standard test functions from CEC-2017 function library,assessing it from multiple dimensions.Sensitivity analysis is conducted on key parameters in the algorithm,including particle sight distance and population size.Results indicate that compared with PSO,SD-IPSO demonstrates significant advantages in optimization accuracy and convergence speed.The application of SD-IPSO in path planning is further investigated through a 14-point traveling salesman problem(TSP)example and navigation autonomous tests of USVs in marine environments.Findings demonstrate that the proposed algorithm exhibits superior optimization capabilities and can effectively address the path planning challenges of USVs.展开更多
文摘To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the concept of particle sight distance,an improved algorithm,called SD-IPSO,is proposed for the real-time autonomous navigation of USVs in marine environments.The algorithm refines the individual behavior pattern of particles in the population,effectively improving both local and global search capabilities while avoiding premature convergence.The effectiveness of the algorithm is validated using standard test functions from CEC-2017 function library,assessing it from multiple dimensions.Sensitivity analysis is conducted on key parameters in the algorithm,including particle sight distance and population size.Results indicate that compared with PSO,SD-IPSO demonstrates significant advantages in optimization accuracy and convergence speed.The application of SD-IPSO in path planning is further investigated through a 14-point traveling salesman problem(TSP)example and navigation autonomous tests of USVs in marine environments.Findings demonstrate that the proposed algorithm exhibits superior optimization capabilities and can effectively address the path planning challenges of USVs.
