TIST Journal 2025 Journal Article
Multi-Autonomous Underwater Vehicle Trajectory Planning in Ocean Current Based on Hierarchical Hunting and Evolutionary Learning
- Bin Jiang
- Yining Wang
- Fanhui Kong
- Jian Wang
In the context of rising demands for marine resource exploitation and scientific research, collaborative trajectory planning for multiple Autonomous Underwater Vehicles (AUVs) in complex underwater environments—marked by obstacles, ocean currents, and low visibility—remains a critical challenge. Although the Gray Wolf Optimization (GWO) algorithm has advanced multi-objective trajectory planning, it faces issues such as poor high-dimensional space adaptability, susceptibility to local optima, and insufficient constraint handling. To address these, this article proposes a multi-AUV trajectory planning algorithm (EA-GWO) based on evolutionary learning to improve GWO. The method optimizes multi-AUV trajectory planning by leveraging hierarchical population hunting behavior, integrating position update equations to prioritize population bootstrapping, and balancing exploration and exploitation via fitness-based population distribution. Experimental validation across general, ocean current, and threat environments compares EA-GWO with the traditional GWO and multiple population GWO (MP-GWO). For sailing time: in the general environment, EA-GWO reduces total time by 90.6% compared to GWO and 90.6% compared to MP-GWO; in the ocean current environment, it cuts time by 0.9% versus GWO and 2.4% versus MP-GWO; in the threat environment, it cuts time by 13.6% versus GWO and 14.9% versus MP-GWO. For sailing distance: in the general environment, EA-GWO shortens total distance by 9.8% compared to GWO and 3.4% compared to MP-GWO; in the ocean current environment, it reduces distance by 2.3% versus GWO and 4.9% versus MP-GWO; in the threat environment, it shortens distance by 5.5% versus GWO and 1.0% versus MP-GWO. In terms of convergence performance reflected by the fitness curve: across the three environments, EA-GWO demonstrates faster convergence speed. These results highlight that EA-GWO outperforms the other two algorithms in sailing time, distance, and convergence efficiency, verifying its effectiveness in real-time dynamic coordination and constraint handling for multi-AUV missions.