中文说明：
针对移动机器人在海水环境中的三维路径规划问题容易陷入局部最优和收敛慢等瑕疵，根据三维环境全局信息来改进蚁群算法以提高实时性和收敛速度。
English Description：
Aiming at the defects of local optimization and slow convergence in the three-dimensional path planning problem of mobile robot in seawater environment, the ant colony algorithm is improved according to the global information of three-dimensional environment to improve the real-time performance and convergence speed.