Table 6.

Single intelligence algorithms (UUVs).

Problem	Resolution	Performance and Additional Explanation	Ref.
UUV
Route planning	Alarm pheromone-assisted ant colony system (AP-ACS)	Improve the robustness of the algorithm Better suited for route planning within complex real-world underwater environments Underwater environment models consider both seamounts and suspended objects All algorithms are coded in C++, and results are visualized in MATLAB 2017	[128]
AUV failure detection and control	Intelligent decision-making (IDM)	IDM and a fuzzy expert system (FES) System is fast and functions in real time Used for recognition and detection Route is determined via calculation every 20 nanoseconds with a 50 MHz clock.	[129]
Route planning	Improved bio-inspired neural network	Improved bio-inspired neural network Short and smooth route planning possible Can handle real-time route planning issues Target attractor concept + ANN	[130]
Route planning	3D cubic Bezier curve method	3D cubic Bezier curve method Enables the AUV to determine the shortest path with good continuity Can solve the problem of large distances between Bezier curves and the last number of objects	[131]