Research on Global Path Planning in the Marine Environment for AUV

This paper presents a saving energy consumption approach to the AUV global path planning based GA. The AUV works in the large-scale marine environments and the energy consumption is a big problem when the AUV is working. Ocean current is a main factor that impacts AUV’s navigation. We consider ocean current as an evaluation factor, and make it a part of fitness function in GA. We take ocean current factor into account in global path planning.