A Hierarchical Global Path Planning Approach for AUV Based on Genetic Algorithm
Qiaorong Zhang · 2006
Global path planning is one of the key technologies of AUV (autonomous underwater vehicle), and it represents the intelligence level of AUV in some ways. This paper proposes a hierarchical global path planning approach for autonomous underwater vehicle in ocean. This approach consists of successive decomposition of the robot's workspace and searching for a path at each level of decomposition. To get a global shortest path, the genetic algorithm is used in the algorithm for its efficient on optimization. The approach proves to be flexible and practicable, and can reduce memory consumption significantly