Cooperative Path Planning of Multi-UUVs Area Coverage Based on Beetle Swarm Optimization

Multiple underwater unmanned vehicles(Multi-UUVs) area coverage collaborative path planning faces the problems of low collaborative control efficiency and frequent obstacle avoidance. To address these issues, we firstly decompose the map into several sub-regions based on the Boustrophedon algorithm, in which several suitable initial points and termination points can be selected for collaborative path planning, and connects multiple sub-regions effectively to realize area coverage. Secondly, we design the Beetle Swarm Optimization(BSO) algorithm to achieve cooperative path planning from initial point to termination point, while using the Artificial Potential Field(APF) method to achieve local obstacle avoidance. Finally the simulation results show that compared with the system unoptimized, the obstacle avoidance times of the system based on BSO are reduced by 38%, and the energy consumption is reduced by 3.15%.