Multi-objective quintuple polynomial trajectory optimization for unmanned underwater vehicles based on waypoint navigation

The unmanned underwater vehicle (UUV) based on waypoint navigation is used as the research object to optimize the multi-objective trajectory for the smooth operation, low energy consumption and low smooth impact required in the patrol task. The spatial trajectory of the unmanned underwater vehicle is constructed by a quintuple polynomial, and the motion trajectory is optimally solved using a quadratic programming algorithm by combining the position, velocity and acceleration requirements of the unmanned underwater vehicle at the beginning and end moments as well as the continuity constraints among the waypoints. The results show that the multi-objective quintuple polynomial-based algorithm achieves an effective multi-objective optimization of the unmanned underwater vehicle trajectory.