Local Path Planning with Multiple Constraints for USV Based on Improved Bacterial Foraging Optimization Algorithm

The quality of unmanned surface vehicle (USV) local path planning directly affects its safety and autonomy performance. USV might easily be trapped into optima. swarm intelligence optimization algorithm is a novel effective method to solve the path-planning problem. Aiming address this problem, hybrid bacterial foraging with simulated annealing mechanism proposed. proposed preserves three-layer nested structure, incorporated outermost dispersal operator. can effectively escape Convention on International Regulations for Preventing Collisions at Sea (COLREGs) rules dynamic obstacles are considered as constraints design different obstacle avoidance strategies USVs. coastal port selected working environment in visual test platform. experimental results show successfully avoid various port, efficiently plan collision-free paths.