改进麻雀搜索算法的水下滑翔机路径规划

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中图分类号：TP242.3 文献标志码：A 文章编号：1671-5276（2025）06-0284-06

Abstract：An improvedsparrowsearchalgorithm forunderwater gliderisproposed tosolvetheproblemofunderwater threedimensionalglobal path planning withobstacles.Theunderwater3Dspatialmodeling methodisgivenacording totheworking environmentofunderwatergliders.TheTent-logisticchaoticmapisusedtoinitializethepopulationtomakethepopulation distributionmoreuiform.Theweightfactorisaddedtothelocationupdateformulacoresponding tothediferentwarnngvalues of thediscoverer，andtheglbaloptimalsolutionoftheprevious generationisadded，soas toacceleratetheconvergencespeed andimprovethesearchability.Thetestfunction'scomparisonofthesimulationwithotheralgorithmsdemonstratesthatthe improvedalgorithmhassignificantlyenhanceditsconvergenceaccuracyandvelocity.Uponitsapplicationtotheunderwaterglider pathplaning，theeffectivenessof theimprovedalgorithminthefieldof pathplanning isprovedbyexperimentalesults.

Keywords：underwater glider;three-dimensional path planning;sparrow search algorithm

0 引言

水下滑翔机是一种新型水下航行器[1]，具有成本低、功耗小、续航时间长等特点，通过调节自身质心和浮力实现下潜和上浮，从而成为海洋重要观测平台[2]

路径规划问题一直是水下滑翔机的热点研究领域，合适的路径可以使水下滑翔机节省能耗，缩短工作时间，高效准确地到达指定位置。（剩余5743字）