AUV Path Planning Based on Improved Genetic Algorithm
Tao Wei, Shaokun Yan, Feng Shan Pan, Guanfang Li · 2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE) · 2020
The path planning model of AUV is established based on the improved genetic algorithm. In the model, the shortest path length is taken as the main criterion, and the boundary conditions are established with the range of collision avoidance and turning angle as constraints. The reasonable crossover and mutation adaptive probability models are designed. Then, the simulation results show that the effectiveness of AUV path planning is verified by a specific example The algorithm can converge quickly, which proves the correctness and feasibility of the path planning model.