New way of path planning for underwater vehicle group
Gu Guo · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2003
The problem of path planning for coordinated mine clearance operation of multiple autonomous underwater vehicles was formulated as a kind of multiple travelling salesman problem and two models of multiple travelling salesman problem were developed from the mission background information. The basic thought and specific schemes about the solution of these two kinds of travelling salesman problem using genetic algorithm were discussed in detail. The simulation tests and convergence analyses made show the way of path planning proposed is an effective and robust way to produce satisfactory paths for multirobot systems.