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To solve the problem that the underwater vehicles is difficult to turn and exit in a small range in the face of complex marine environment such as concave and ring under the limitation of its limitation of its shape and maximum steering angle, this paper aims to propose an improved ant colony algorithm based on trap filling strategy and energy consumption constraint strategy.

Firstly, on the basis of searching the global path, the disturbed terrain was pre-filled in the complex marine environments. Based on the energy constraint strategy, the ant colony algorithm was improved to make the search path of the underwater vehicle meet the requirements of the lowest energy consumption and the shortest path in the complex obstacle environment.

The simulation results showed that the modified grid environment diagram effectively reduced the redundancy search and improved the optimization efficiency. Aiming at the problem of “the shortest distance is not the lowest energy consumption” in the traditional path optimization algorithm, the energy consumption level was reduced by 26.41% after increasing the energy consumption constraint, although the path length and the number of inflection points were slightly higher than the shortest path constraint, which was more conducive to the navigation of underwater vehicles.

The method proposed in this paper is not only suitable for trajectory planning of underwater robots but also suitable for trajectory planning of land robots.

Laser powder bed fusion (LPBF) can be used to fabricate complex extrusion die without the limitation of structures. Layer-by-layer processing leads to differences in microstructures and wear properties. This study aims to investigate the microstructure evolution and effects of tungsten carbide (WC) on the wear properties of LPBF-printed 18Ni300.

Economical spherical granulation-sintering-deoxygenation (GSD) WC-reinforced 18Ni300 steel matrix composites were produced by LPBF from powder mixtures of WC and 18Ni300. The effects of WC contents on anisotropic microstructures and wear properties of the composites were investigated.

The relative density is more than 99% for all the composites except 25% WC/18Ni300 composite. The grain sizes distributed on the top cross-section are smaller than those on the side cross-section. After adding WC particles, more high-angle grain boundaries and larger Schmid factor generate, and deformed grains decrease. With increasing WC contents, the hardness first decreases and then increases but the wear volume loss decreases. The side cross-section of the composite has higher hardness and better wear resistance. The 18Ni300 exhibits adhesive wear accompanying with abrasive wear, while plowing and fatigue wear are the predominant wear mechanisms of the composites.

Economical spherical GSD WC particles can be used to improve the wear resistance. The novel WC/18Ni300 composites are suitable for the application under the abrasive wear condition with low stress.