Underwater Penetration Path Planning Based on CHS Algorithm

Considering the phenomenon that Harmony Search Algorithm sometimes abandon the optimal solution in fine-tuning, this text extracted the thoughts of cooperative co evolution from the co evolution theory, and advanced the cooperation based on Harmony Memory and Collaboration harmony search algorithm (CHS), then apply it in path planning of underwater penetration. No matter in Calculation precision or in astringent accuracy, the improved CHS algorithms is better than the unmodified Harmony Search Algorithm (HS). Simulation shows the improved algorithm proposed in this paper performs excellently, and can be applied to the underwater penetration path planning problems.