2003, Volume 5, Issue 11
Strategic Study of CAE >> 2003, Volume 5, Issue 11
AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm
College of Automation, Harbin Engineering University, Harbin 150001, China
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Abstract
The path-planning algorithm of AUV in 3D seabed environment is studied. For 3D environment, the optimal paths are classified into three different types. The optimal paths of each type are obtained flexibly by using genetic algorithm, especially the incorporating of problem-specific knowledge and penalty function. Simulation results show the feasibility and reliability of the path-planning algorithm, which has considerable value on the safe navigation of AUV in seabed environment.
Keywords
3D path planning ; genetic algorithm ; seabed terrain ; underwater vehicle
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