A method for AUV to avoid collision with moving obstacles based on genetic algorithm

A method of collision avoidance for AUV with moving objects was proposed based on genetic algorithm was proposed. The method adopts real coding principle,mapping the constraint conditions such as collision avoidance,shortest path and trace keeping into fitness function,to ensure the convergence of genetic algorithm with the introduction of optinal preservation strategy. Simulations show that the method can make AUV avoid collision with moving objects very well.