The Application of an Improved PSO to the Submersible Path-Planning

Based on the theory of swarm intelligence, an improved particle swarm optimization (IPSO) is put forward. The IPSO can enhance scheduling ability for local and global optimal of PSO by using nonlinear strategy to change the inertial weights. It can also strengthen optimization ability of particles by changing the position iterative formula to increase effects of "excellent" particle. Through theoretical derivation, validation and experimental simulation, it is shown that the IPSO owns more excellent performance. The proposed IPSO is used in three dimensional path planning of underwater vehicle. By reducing the dimension of three-dimensional space and via segmentation adding constraint condition, the path planning problem is converted into the optimization problem about solutions of path points. Finally, through the experimental simulation, a path from start to finish point without collision is given, so the feasibility of this method is proved.