研究了以航程及精度为准则的水下滑翔机全局多目标路径规划。首先结合 OUC-Ⅲ滑翔机执行机构能耗及运动规律建立了系统能耗计算表格；然后通过对运动纵平面内的滑翔形式对比，以及水平面内的定航运动控制参数选取的分析，建立了滑翔机全局路径规划模型；为解决路径规划过程中面临的带约束混合非凸多目标优化问题，应用改进的人工蜂群算法对综合航行指标最均衡的控制参数进行了求解；最后将获得的结果与海试数据对比判定解的质量。仿真结果显示算法可有效提升滑翔机长航程航行的综合性能。

The global multi-objective path planning for underwater gliders based on the principle of range and precision is studied in this work. Firstly, the energy consumption calculation table of the system was established by combining the actuator parameters and the fundamental principle of gliding motion. Then through the comparison of different motion patterns in longitudinal profile and the analysis of heading control in the horizontal plane, a global glider path planning model was developed. In order to solve the constrained hybrid

non-convex multi-objective optimization problem in this procedure, an improved artificial bee colony algorithm was applied. Then the most balanced control parameters of the navigation index were obtained, after that, the simulation results were compared with the sea trial data to examine the quality of the solution. The simulation shows that with the utilization of the algorithm, glider long range navigation performance can be effectively improved.