Global Path Planning Algorithm for USV Based on IPSO-SA

In order to solve the problem of USV global path planning. a new path planning algorithm is designed. combining particle swarm optimization(PSO) with simulated annealing(SA) algorithm. The algorithm improves the shortcomings of the PSO method, which is easy to fall into the local minimum and the non-global optimality. Based on improved PSO and SA(IPSO-SA), a double-layer USV global path planning algorithm is designed, considering both convergence speed and solution optimization. And then, the IPSO-SA algorithm is applied to the USV maritime global path planning, it only needs to use the global path planning algorithm in a local circle to obtain a small number of point sequences, with low search volume and space-time overhead. Theoretical derivation and simulation experiments verify the effectiveness of the algorithm.