In view of the robot at the bottom of the sea under complicated environment

the traditional PSO path planning algorithm for continuous wave problems

lead to a larger submarine robot speed and position of disturbance

get rid of the obstacles path optimization results

there is a big deviation of an improved PSO underwater robot path out of optimization method under complicated environment

into the speed-position search model in the traditional algorithm

using for high-dimensional function and cognitive function obstacle constraints limit

at various stages of the robot obstacle from the adjust value of cognitive factor and environmental factor

get the best out of obstacles path

make the underwater robot can efficiently get rid of the obstacles. In particle number is 200 N

particle dimension to 10

the maximum number of iterations for 800 experiments

this algorithm make the results of the path planning with the optimal path planning of has high compatibility

error control within 3.5%

the obstacles to get rid of the effect is more obvious

has good application value.