Enhanced Unmanned Surface Vehicle Path Planning Based on the Pair Barracuda Swarm Optimization Algorithm: Implementation and Performance in Thousand Island Lake

The path planning problem for unmanned surface vehicles (USVs) is related to multiobjective optimization, including shortest path, minimum energy consumption, and obstacle avoidance, making it particularly complex in multi-island and multiobstacle environments such as Thousand Island Lake. An enhanced path planning method for USVs based on the pair barracuda swarm optimization (PBSO) algorithm is proposed, and the complex water environment of Thousand Island Lake is taken as an example. The PBSO algorithm simulates the social behaviour of pair barracuda innovative and deep memory mechanisms, which can enhance the algorithm’s global search ability and local optimal escape ability in high-dimensional space. The probabilistic roadmap (PRM) method was initially used to model complex environments with multiple islands and obstacles. Moreover, four evaluation indicators were proposed to evaluate the performance of the obtained path: total navigation distance (TND), number of returns (NT), average turning angle (ATA), and minimum safe distance (MSD) from obstacles. The PBSO algorithm is used to optimize the initial path to reduce frequent turns and turning amplitudes during navigation. Path planning experiments were conducted on four simulated map environments with different ranges and complexities. Compared with state-of-the-art heuristic path planning methods, our method can identify the optimal path faster and has better stability. The enhanced USV path planning method based on the PBSO algorithm provides a new path planning strategy for the practical application of USVs under the real Thousand Island Lake.