Improved genetic algorithm for fast path planning of USV
Lu Cao · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2015
Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for USV(Unmanned Surface Vehicle), an approach of fast path planning based on voronoi diagram and improved Genetic Algorithm is proposed, which makes use of the principle of hierarchical path planning. First the voronoi diagram is utilized to generate the initial paths and then the optimal path is searched by using the improved Genetic Algorithm, which use multiprocessors parallel computing techniques to improve the traditional genetic algorithm. Simulation results verify that the optimal time is greatly reduced and path planning based on voronoi diagram and the improved Genetic Algorithm is more favorable in the real-time operation.