Next Article in Journal
Structural Analysis and Redrawing of a Sailing Catamaran with a Numerical and Experimental Approach
Next Article in Special Issue
A Hierarchical Reinforcement Learning Framework for Multi-Agent Cooperative Maneuver Interception in Dynamic Environments
Previous Article in Journal
Evaluating Coral Farming Strategies in Mauritius: A Comparative Study of Nursery Types, Biodiversity and Environmental Conditions at Pointe Aux Feuilles and Flic-en-Flac
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
JMSE
Volume 13
Issue 7
10.3390/jmse13071269
jmse-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Energy-Optimized Path Planning for Fully Actuated AUVs in Complex 3D Environments

by
Shuo Liu
1,2,3,
Zhengfei Wang
1,
Tao Wang
1,2,*,
Shanmin Zhou
4,
Yu Zhang
4,
Pengji Jin
4 and
Guanjun Yang
5
1
Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhejiang University, Zhoushan 316021, China
2
Ocean College, Zhejiang University, Zhoushan 316000, China
3
Hainan Institute, Zhejiang University, Sanya 572025, China
4
Ocean Research Center of Zhoushan, Zhejiang University, Zhoushan 316021, China
5
Zhejiang Bay Area Robotics Technology Co., Ltd., Yuyao 315499, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(7), 1269; https://doi.org/10.3390/jmse13071269
Submission received: 15 May 2025 / Revised: 25 June 2025 / Accepted: 26 June 2025 / Published: 29 June 2025
(This article belongs to the Special Issue Dynamics and Control of Marine Mechatronics)
Versions Notes

Abstract

This paper presents an energy-optimized path planning approach for fully actuated autonomous underwater vehicles (AUVs) in three-dimensional ocean environments to enhance their operational range and endurance. A fully actuated AUV is characterized by its high degrees of freedom and precise controllability. Using real terrain data, we construct environmental models incorporating a Lamb vortex and random obstacles. We develop a mathematical model of the AUV’s total energy consumption, accounting for constraints imposed by its fully actuated design and extensive maneuverability. To minimize energy usage, we propose an energy-optimized path planning algorithm that combines energy-optimized particle swarm optimization (EOPSO) and sequential quadratic programming (SQP). The proposed method identifies the optimal path for energy consumption and the corresponding optimal surge speed. The efficacy of the algorithm in optimizing the total energy consumption of the AUV is demonstrated through the simulation of various scenarios. In comparison to other algorithms, paths planned by this algorithm are shown to have superior robustness and optimized energy consumption.
Keywords: autonomous underwater vehicle; complex environments; energy-optimized; path planning autonomous underwater vehicle; complex environments; energy-optimized; path planning

Share and Cite

MDPI and ACS Style

Liu, S.; Wang, Z.; Wang, T.; Zhou, S.; Zhang, Y.; Jin, P.; Yang, G. Energy-Optimized Path Planning for Fully Actuated AUVs in Complex 3D Environments. J. Mar. Sci. Eng. 2025, 13, 1269. https://doi.org/10.3390/jmse13071269

AMA Style

Liu S, Wang Z, Wang T, Zhou S, Zhang Y, Jin P, Yang G. Energy-Optimized Path Planning for Fully Actuated AUVs in Complex 3D Environments. Journal of Marine Science and Engineering. 2025; 13(7):1269. https://doi.org/10.3390/jmse13071269

Chicago/Turabian Style

Liu, Shuo, Zhengfei Wang, Tao Wang, Shanmin Zhou, Yu Zhang, Pengji Jin, and Guanjun Yang. 2025. "Energy-Optimized Path Planning for Fully Actuated AUVs in Complex 3D Environments" Journal of Marine Science and Engineering 13, no. 7: 1269. https://doi.org/10.3390/jmse13071269

APA Style

Liu, S., Wang, Z., Wang, T., Zhou, S., Zhang, Y., Jin, P., & Yang, G. (2025). Energy-Optimized Path Planning for Fully Actuated AUVs in Complex 3D Environments. Journal of Marine Science and Engineering, 13(7), 1269. https://doi.org/10.3390/jmse13071269

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop