A BWBUG Adaptive Planning Method Considering Underwater Static Threats Based on Improved GOOSE Algorithm

This paper puts forth an adaptive path planning method for the blended-wing-body underwater glider (BWBUG), taking into account underwater static threats. The initial step involves elucidating the ocean operating environment and the issues to be studied. Subsequently, a path planning model that incorporates static threats is formulated. Specifically, the gliding path of BWBUG is parameterized by combining the kinematic model of BWBUG and the cubic spline curve, and a cost function is established based on energy consumption. In the constraint processing stage, safety constraints, the smoothness of the path, and the influence of ocean currents on the motion of BWBUG are considered. To address the issue of GOOSE’s suboptimal perception of solution quality, an adaptive update strategy based on solution quality is proposed. The simulation results show the effectiveness of the proposed method, which can plan a reasonable gliding path for BWBUG. In addition, the proposed improved GOOSE algorithm is significantly better than the existing representative algorithms.