Route Planning Method and System for Unmanned Surface Vehicles Based on Improved Particle Swarm Optimization

摘要

The present invention discloses a route planning method and system for unmanned surface vehicles based on improved particle swarm optimization. The method includes: acquiring several positions to be passed by the USV; acquiring an optimal traverse route of the USV by the iterative calculation of several positions to be passed by the USV based on the improved particle swarm optimization; wherein, the improved particle swarm optimization is obtained based on the optimization strategies of linearly decreasing inertia weight, adaptive control acceleration coefficient, and random grouping inversion; controlling the USV to move according to the optimal moving route.