Research on optimal AUV path planning algorithm and simulation of energy consumption based on improved estimation of distribution algorithm
In order to solve the problem that the classical distribution estimation algorithm based on equal width histogram(FWH)is easy to fall into local extremum and the calculation accuracy is not high in the path plan-ning problem of autonomous underwater vehicle(AUV),an improved distribution estimation algorithm inspired by particle swarm optimization(PSO)algorithm is proposed.By combining FWH with the partial screening mechanism of dominant individuals in particle swarm optimization algorithm,a dual individual screening method is formed to improve the accuracy of AUV path planning optimal path and increase the convergence speed.The performance of the classical distribution estimation algorithm,PSO algorithm,A*algorithm and the improved al-gorithm are evaluated in the environment of underwater digital elevation model.The simulation results show that compared with the previous algorithm,the energy consumption calculated by the new algorithm is reduced by 24.9％,which effectively increases the calculation accuracy,avoids falling into local extremum,and improves the efficiency.
estimation of distribution algorithmpath planningoptimal energy consumptionparticle swarm op-timizationunderwater digital elevation model
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