Global Path Planning of Unmanned Surface Vessel Based on Multi-objective Hybrid Particle Swarm Algorithm

A multi-objective hybrid particle swarm algorithm is proposed to solve the problem that the current unmanned surface vessel (USV) global routing algorithm is easy to fall into the local optimal solution and the optimization target is single. The snap jump feature of simulated annealing algorithm is used to improve global search capability of particle swarm algorithm, and the three objective functions of path length, path smoothness and path security are used to optimize the path. The simulation result shows that the algorithm can improve the smoothness of the inflection point and the security of the path on the shortest path.