In order to overcome the limitation of the traditional path planning with the single goal of distance length

a multi-objective ant colony algorithm for autonomous underwater vehicle（ AUV） path planning in ocean environment is proposed

which integrates route distance

energy consumption and safe navigation behavior. The traditional ant colony algorithm with distance factor as heuristic function is improved to accelerate the convergence speed of the algorithm

at the same time

energy consumption factor and channel safety factor are added to construct a comprehensive heuristic function to meet the needs of multi-objective navigation; classifying pheromones and improving pheromone updating mechanism based on performance ranking of different targets

and introduce the Pareto disassembly

finding the optimal path under different navigation objectives. The simulation results verify the feasibility and effectiveness of the improved algorithm.