The Research Of Path Planning Based On Genetic Algorithm For AUV

Autonomous Underwater Vehicles is a kind of economical vehicle for detecting underwater and exploring ocean resource.Research of path planning is one of the key technology for robot to accomplish a task safely in uncertain environment.It's very important to do the research of AUV path planning for widening the AUV's work space underwater.The method of path planning of AUV which is based on grid representation and GA is discussed in detail in this paper.The method of path planning of AUV used in research organization home and abroad and the Genetic Algorithm was first introduced. Afterwards the robot's path planning using the Genetic Algorithm was researched.The condition model was built by using the grid representation and the binary code method and the right GA operators was used to fulfil the global path planning and local path planning of robot.In the paper,the path planning of AUV in the ocean environment based on researching of the AUV control systems and the function of the path planning equipments is emphasized.Firstly, the grid method was used to build the model and the path was coded by binary system.Then the path planning of AUV by appropriate fitness function and operators was discussed.Finally, the path planning method by the interference of ocean current was researched and simulated to test the feasibility of the algorithm.Finally,the paper was summarized and the expectation was made.