Aiming at periodic motion characteristics of"V "trajectory of underwater glider

a particle swarm optimization（ PSO） algorithm is proposed to avoid obstacles in the three-dimensional path of underwater glider.Firstly

according to the motion characteristics of underwater glider

a three-dimensional space modeling method of underwater working environment is proposed. Then

combined with the energy consumption problem of the underwater glider

the fitness function is formulated by the length of the planned path

the danger degree of the obstacles and the smoothness of the path. Finally

a nonlinear dynamic adjustment strategy of inertia weight is proposed to improve the global search ability of the algorithm. Comparing the optimized algorithm with the basic PSO algorithm

the results show that the optimized algorithm can generate higher-quality paths and can converge to the global optimum in fewer iterations

effectively improve algorithm speed and energy consumption efficiency of PSO algorithm applied in underwater glider path planning.