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中文摘要：
针对无人水下航行器（ UUV）近海底空间路径规划问题，提出了UUV近海底航行安全深度计算方法。同时，提出一种改进的粒子群优化算法，在粒子进化过程中，根据代价函数的变化，调整粒子进化参数组合。 UUV近海底空间路径规划过程中，将最小安全航行深度作为UUV航行深度，在当前路径点，建立UUV路径规划代价函数，利用改进粒子群算法求取代价函数最小点，作为下一路径点，从而逐步得到UUV 近海底航行路径。仿真结果显示，利用所提方法，可以规划出一条躲避地形威胁和障碍威胁，并近海底航行的有效路径，用于执行UUV近海底航行任务。
英文摘要：
For the purpose of path planning for UUV near sea bottom , a safety depth calculation method for UUV near sea bottom was proposed.Concurrently, a novel particle swarm optimization （PSO） algorithm was proposed, which adjusted the combination of the particle evolution parameters in the process of particle evolution according to the change of the cost function .During the process of UUV path planning , the minimum depth of safe navigation was taken as the UUV navigation depth;at the current path point , a UUV path planning cost function was estab-lished.By using the novel particle swarm algorithm , the minimum point of the cost function was attained and taken as the next path point , thus acquiring the navigation path for the UUV near sea bottom step by step .The simulation results show that by applying the proposed method , an effective path is planned for the UUV near sea bottom , which can keep any terrain threats and obstacles at a distance , allowing the UUV to perform the seafloor navigation task.
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