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A bacterial foraging optimization algorithm (BFO) is proposed that takes energy consumption into account and incorporates multiple constraints (MC-BFO). The energy consumption model is redefined for wind environments, enhancing the sensitivity of USVs to wind conditions. Additionally, a reward function is integrated into the algorithm, and the fitness function is reconstructed to improve the goal orientation of the USV. This approach enables the USV to maintain a reasonable path length while pursuing low energy consumption, resulting in more practical navigation. Constraining the USV\u2019s sailing posture for smoother paths and restricting the USV\u2019s heading and speed near the berthage facilitate safe berthing. Finally, three distinct experimental environments are established to compare the paths generated by MC-BFO, BFO, and genetic algorithm under both downwind and upwind conditions, ensuring consistency in relevant parameters. Data on sailing posture, energy consumption, and path length are collected, generalized, and analyzed. The results indicate that MC-BFO effectively reduces energy consumption while maintaining an acceptable path length, resulting in smoother and more coherent paths compared to traditional segmented planning. In conclusion, this method significantly enhances the quality of the berthing path.<\/jats:p>","DOI":"10.1017\/s0263574725101847","type":"journal-article","created":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T03:21:57Z","timestamp":1750303317000},"page":"2427-2441","source":"Crossref","is-referenced-by-count":0,"title":["An unmanned surface vehicle berthing planning based on bacteria foraging optimization algorithm considering energy consumption constraints"],"prefix":"10.1017","volume":"43","author":[{"given":"Jiming","family":"Zhang","sequence":"first","affiliation":[{"name":"Hubei Minzu University"},{"name":"Hubei Minzu University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8554-0350","authenticated-orcid":false,"given":"Yang","family":"Long","sequence":"additional","affiliation":[{"name":"Hubei Minzu University"},{"name":"Hubei Minzu University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiao","family":"Deng","sequence":"additional","affiliation":[{"name":"Hubei Minzu University"},{"name":"Hubei Minzu University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Da","family":"Qiu","sequence":"additional","affiliation":[{"name":"Hubei Minzu University"},{"name":"Hubei Minzu University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Caihua","family":"Fang","sequence":"additional","affiliation":[{"name":"Wuhan Second Ship Design and Research Institute"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,6,19]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574725101847_ref13","DOI":"10.1017\/S0263574724000869"},{"doi-asserted-by":"publisher","key":"S0263574725101847_ref25","DOI":"10.1007\/s00521-016-2402-9"},{"key":"S0263574725101847_ref35","first-page":"1499","article-title":"Research on path planning for mobile robot based on grid and hybrid of ga\/sa","volume":"479","author":"Yang","year":"2012","journal-title":"Adv. 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