Path planning of AUV based on genetic simulated annealing algorithm

Global path planning is an important research field of autonomous underwater vehicles(AUVs).Finding a collision-free path for an AUV from the source position to the destination position among fixed obstacles represents the intelligence level of an AUV to some extent. Proposed here is a global path planning method using a genetic simulated annealing algorithm based on a hierarchical model to resolve the problem of path planning in an ocean.The algorithm has been implemented, and the results demonstrate its validity.