A hybrid optimization method considering energy limited constraint and task importance degree for UUV path planning

Considering the UUV energy self-contained is limited, and the task to execute has different importance, how to make UUV in the finite energy configuration case as far as possible to complete the important task with high priority, the path planning problem for multi constrained multi-objective is one of the key problems of autonomous control technology for UUV to solve. A hybrid optimization algorithm based on artificial fish swarm algorithm and ant colony algorithm was proposed, using the weight coefficient method change multi-objective problem into single objective; for limited energy value, use the methods of iteration and decreasing of operating points. The simulation results show that the new algorithm is valid.