遗传算法在水下机器人路径规划中的应用

The Application of Genetic Algorithm in Path Planning for AUV

提出一种分层路径规划算法来解决大范围海洋环境下的智能水下机器人(AUV)的全局路径规划问题。该算法将机器人的工作空间分层分解,并在每一层搜索路径,最终得到一条与障碍物无碰的全局路径。同时为解决算法的全局最优问题,使用遗传算法在每一层搜索路径。实践证明,该方法具有灵活、实用的特点,并能显著的节省内存空间。

This paper proposes a hierarchical global path planning approach for Autonomous Underwater Vehicle in ocean. This approach consists of successive decomposition of the robot＇ s workspace and searching for a path at each level of decomposition. To get a global shortest path, the Genetic Algorithm is used in the algorithm for its efficient on optimization. The approach proves to be flexible and practicable, and can reduce memory consume significantly.