为解决远距离自主回收任务中水下无人航行器(UUV)在剩余能源有限情况下的快速回收问题，提出一种基于能耗和时间最优的三维路径规划方法：首先，基于UUV的运动学建立回收过程中的能量消耗模型和航行时间模型；其次，引入权重因子，采用加权系数法构建绿色度最大的联合优化目标函数，结合B-spline曲线生成连续光滑的路径；最后，利用改进的粒子群优化(PSO)算法得到满足优化目标的三维路径。仿真结果表明，该方法可以有效实现UUV能耗和回收时间的平衡，同时能够根据回收集合点规划出一条避开水下碍航区域的三维路径。

A three-dimensional path planning method based on energy consumption and time optimization was proposed to solve the rapid recovery problem of underwater unmanned vehicle (UUV) with limited residual energy in long-distance autonomous recovery mission. Firstly, the energy consumption model and voyage time model in the recovery process were established based on the kinematics of UUV. Secondly, the weighting factor was introduced, and the weighted coefficient method was used to construct the joint optimization objective function with the largest green degree, and by combining the B-spline curve, a continuous smooth path generated. Finally, an improved particle swarm optimization (PSO) algorithm was used to obtain a three-dimensional path that satisfied the optimization goal. The simulation results show that the proposed method can effectively achieve the balance between UUV energy consumption and recovery time, and at the same time, it can plan a three-dimensional path to avoid underwater obstructions areas based on the recovery assembly point.