The study was conducted with the aim of solving the path planning problem of autonomous underwater vehicles (AUV), and a fuzzy path planning algorithm based on particle swarm optimization (PSO) was presented according to fuzzy logic control theories．First，a fuzzy rule for the path planning was set up in the underwater horizontal plane． Then，an accelerate／brake(A／B)model was applied to dealing with static and dynamic avoidance．Considering that the fuzzy boundary choice is of great arbitrariness，and the formation of the path is not optimal，the PSO algorithm was applied to optimization of the fuzzy boundary for making the final generated path most optimal．the designed PSO—fuzzy algorithm Was intended to do statics and dynamic obstacle avoidance path planning．the simulation results verified the effectiveness of the proposed design method．

基于粒子群优化的自治水下机器人模糊路径规划.pdf

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