In order to solve the problem of improper thrust distribution of each thruster of underwater vehicle, the PSO optimization algorithm is used to solve the problem of thrust distribution. According to the spatial layout of the thruster, the algorithm model of the underwater vehicle propulsion system is established. The thrust input is carried out under the broken line search trajectory, and the simulation verifies the thrust allocation results of the PSO algorithm and the traditional pseudo-inverse method. The simulation results show that compared with the traditional algorithm. First of all, the PSO algorithm can set the physical threshold for each thruster to prevent the thruster from having too much thrust. Secondly, it can ensure that the thruster can turn with a reasonable torque to prevent the robot from drifting due to the large thrust gap. This paper provides a theoretical reference for thrust distribution of underwater salvage robot, and has practical engineering significance.

Abstract
1. Introduction
2. Mathematical modeling of propulsion system of underwater salvage robot
3. Research on propulsion system of underwatersalvage robot
4. Research on pseudo-inverse thrust distributionmethod.
5. Research on thrust Distribution method based onPSO Optimization algorithm
6. Optimal Design and Simulation experiment ofPSO thrust Distribution
7. Conclusions
References

• Jiang Yu An(Dept. Department of Navigation Technology, Shandong Jiaotong University)
• Guo Gao Yang(Dept. Department of Navigation Technology, Shandong Jiaotong University)
• Zhang Qiang(Dept. Department of Navigation Technology, Shandong Jiaotong University) Corresponding Author