Global Obstacle-avoiding Path Planning of Micro-miniature Unmanned Surface Vehicle
WU Yan-xuan · Jisuanji fangzhen · 2010
On the basis of usual improved GA algorithm, according to navigating characters of micro-miniature unmanned surface vehicle, variable length floating coding is presented. The first population is built according to the boundary restriction, obstacle-avoiding restriction, maneuverability restriction, number of total swerving spots and judging whether the goal is navigable. To avoid obstacles and satisfy maneuverability restriction, crossing individuals at similar swerving spots and mutating individuals at a small range are adopted. The simulation shows that the improving methods can generate good population, delete bad individuals, and quicken the searching speed.