Research on a global planning method and its simulation for autonomous underwater vehicle
Xinqian Bian · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2006
A global planner was designed based on a genetic algorithm(GA) and used to solve the planning problem of 2-degree and 3-degree for an autonomous underwater vehicle(AUV) in the large-range ocean environment.The planning space was modeled using a grid-based approach,so that the digital elevation property was stored in each discrete node of the grid.An encoding method adopted a decimal and variable-length code mechanism for the GA chromosome.To avoid generating any non-feasible chromosomes,domain knowledge was taken into account to generate initial population and design five kinds of generic operators.Using the software MultiGen Creator Pro and Vega,the semi-physical virtual simulation system of an AUV was constructed and a demonstration was done to simulate the process of AUV steering as the result of GA path planning.The simulation result shows that the global planner provides a simpler planned path,has the character of high speed global convergence,and can more efficiently and effectively solve the problem of path planning for an AUV.It meets the safety and feasibility needs of mission planning demand for an AUV.