Research on Global Path Planning for AUV Based on GA

摘要

Electronic charts as a specialized electronic map become increasingly mature. By using the electronic charts to establish the model of the environment and considering ocean current in GA search strategy, a new method for AUV global path planning in large-scale marine environments is proposed. The information provided by electronic charts is used in this paper to establish the model of the environment of AUV workspace, and GA as a search strategy is used for the AUV global path planning. The ocean current as a factor that affects the navigation of AUV was considered in the evaluation function of GA, so that the AUV can make full use of the energy of the currents. The model of the environment of AUV workspace and path planning is validated by simulation test.