Analysis of Modified Tuna Swarm Optimization Technique for Path Planning of Underwater Vehicle

Abstract

Path planning with obstacle avoidance is crucial for navigating an Autonomous Underwater Vehicle (AUV) in an unknown and obstacle-rich three-dimensional space. Many studies have been conducted to develop a controller that can effectively navigate through an obstacle-rich environment for a mobile robot in a two-dimensional terrain. However, the trajectory planning of AUVs in a three-dimensional environment is still challenging. This paper aims to develop an optimized obstacle-free path in a three-dimensional environment using a modified Tuna Swarm Optimization (MTSO) technique. There are four techniques in TSO; each is selected based on the requirement and independent of the other. This proposed MTSO controller is tested under laboratory and computer simulation to determine its effectiveness. Less than 5% deviation is noticed between them due to signal delay and hydrodynamic effect on the AUV.