中文摘要：

针对自主水下航行器在复杂、未知海洋环境中的路径规划难题，提出改进蚁群算法，建立具有31个巡航点的AUV（Au．tonomousUnderwaterVehicle）路径规划模型。结合算法特点，对该模型进行仿真实验，通过实例分析了算法中相关参数对获取最优解的影响，得到了AUV巡航的最佳路径图。

英文摘要：

Aiming at the hard problem of path planning for autonomous underwater vehicle （AUV） in complex and unknown marine environment, we propose an improved ant colony algorithm, and establish an AUV path planning model with 31cruising points. Combining the features of the algorithm, we carry out the simulation experiment, use the examples to analyse the effect of related parameters on obtaining the optimal solutions in the algorithm, and get best route map for AUV cruise.