The Application of an Improved Genetic Algorithm in the AUV Global Path Planning
Qi Li, Xiu Hua Shi, Zhi Qiang Kang · Applied Mechanics and Materials · 2012
AUV global path planning often achieves by genetic algorithm, due to genetic algorithm’s local search ability is limited, resulting in two limitations: large amounts of algorithmic operations to meet the expected effect; there are some peaks after the inheritance in the paths. Thus we propose non-uniform encoding obstacle avoidance operator node deletion operator and smoothing operator. The result proves that the improved Genetic Algorithm finds a comparatively better path, achieves rapid and smooth global path planning by avoiding obstacle deleting redundant nodes and smooth operation.