Multi-constraint optimized UUV particle swarm three-dimensional path planning method

The invention discloses a multi-constraint optimized UUV (Unmanned Underwater Vehicle) particle swarm three-dimensional path planning method, which aims to solve the problems of sensitivity to initialization conditions, difficulty in parameter adjustment, easiness in falling into a local optimal solution, low convergence speed and the like in path planning of a traditional particle swarm method. Pre-optimization is utilized to initialize part of particles, and an initial population is generated between a starting point straight line and an end point straight line; a simulated annealing criterion is introduced as a local search mechanism during optimization, and adjustment is performed according to a simulated annealing principle during position updating; when the simulated annealing cannot update the individual, the search space is increased through one mutation operation; when the speed and position of the particles are updated, the upper and lower bounds of the particles are limited and corrected, particle