Research Of Cuckoo Search Algorithm And Its Application In Autonomous Underwater Vehicle Path Planning

Autonomous underwater vehicle plays an increasingly important role in the development of marine resources,military reconnaissance and submarine deep submergence rescue and so on, which requires higher level of intelligent control and autonomous navigation of the autonomous underwater vehicle all over the world. The path planning is one of the key technologies to realize automation and intelligent control of autonomous underwater vehicle.It is not only the basis of autonomous underwater vehicle to complete the task, but also the significant reflection of its intelligent level. A reasonable path design plays a vital role in time saving, fuel utilization and navigation safety.The path planning problem of autonomous underwater vehicle belongs to the three-dimensional space path planning, which has several problems such as a large amount of calculation, long computing time and low accuracy. This paper develops intensive study which aims at those problems. In order to improve the three-dimensional path planning accuracy and reduce the computation time, this paper proposed a three-dimensional space path planning method based on the modified cuckoo search algorithm. The method could search for a shortest path quickly and accurately by simulating the obligate brood parasitic behavior of some cuckoo species in combination with the Levy flight behavior of some birds.First, the paper studies deeply on the cuckoo search algorithm. This paper expounds the biological principles of the algorithm, including the brood parasitic behavior of some cuckoo and the Levy flight behavior of some birds. Then the paper explores the mathematical principles and gives the operation steps of the algorithm. The Markov model is established to prove the convergence of the algorithm. In addition, the simulation test is done to explain how the algorithm realizes and research on the parameters, then to prove the convergence and the superiority of this algorithm.Secondly, this paper proposes a modified cuckoo search algorithm by analyzing the shortcomings of the standard cuckoo search algorithm. Set up the Levy flight step size coefficient scale a, whose value decreases as the number of generations increases, thus encouraging more localized search. The paper gives the operation steps of the modified cuckoo search algorithm. By comparing to the standard cuckoo search algorithm and the particle swarm algorithm,the superiority of the modified cuckoo search algorithm is proved.Finally, this paper designs a three-dimensional space path planning method of autonomous underwater vehicle on the basis of the modified cuckoo search algorithm. The path planning process happens in the three-dimensional real terrain environment which the paper establishes. The algorithm is designed for the path planning problem. The simulation results show that the modified cuckoo search algorithm can quickly find the global optimal path in the path planning area in a relatively short period of time.