Research on Global Path Planning Method For Autonomous Underwater Vehicle Based on Large-scale Chart Data

A global path planning method for autonomous underwater vehicle (AUV) based on Genetic a1gorithm (GA) and large-scale chart data is studied. It is introduced the grid-based approach for environment model and the data structure, in which the nodes of the grid store the digital elevation property. Some problems such as the coding of chromosome, generating initial population based on knowledge and evaluation function of generic algorithm are discussed. At last, it is proposed the design method for five kinds of generic operators based on domain knowledge. The simulation result shows that this algorithm, which adopts a method of variable length codes, makes the path described more simply and clearly, has the character of high speed global convergence, and can more efficiently and effectively solve the problem of path planning for AUV.