文献类型：会议论文

英文题名：Research on Global Path Planning for AUV Based on GA

作者：Sun, Yu[1];Zhang, Rubo[2]

机构：[1]Harbin Engn Univ, Coll Comp Sci & Technol, Harbin 150001, Peoples R China;[2]Guangdong Ocean Univ, Coll informat, Guangzhou 524088, Guangdong, Peoples R China

会议论文集：International Conference on Mechanical Engineering and Technology (ICMET 2011)

会议日期：NOV 24-25, 2011

会议地点：London, ENGLAND

语种：英文

外文关键词：global path planning; AUV; GA; electronic chart

外文摘要：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.