Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

Table 1

Parameters for simulation.

Method	Parameters
NPSO	𝜔^𝑡𝑖=0.7, 𝑐max=2.5, 𝑐min=0.5	𝑛=30,; 𝐷=10,; 𝑥𝑖∈[−100,100],; 𝑣𝑖∈[−100,100]
BPSO	𝑐1=𝑐2=2.0, 𝜔=0.7
LWPSO	𝑐1=𝑐2=2.0, 𝜔1=𝜔max=0.9, 𝜔2=𝜔min=0.4
EPSO	𝑐1=𝑐2=2.0, 𝜔1=𝜔max=0.9, 𝜔2=𝜔min=0.4
TVAC	𝑐max=2.5, 𝑐min=0.5, 𝜔=0.7