Global Path Planning for an Autonomous Underwater Vehicle in a Vortical Current Field by Using Genetic Algorithm

The purpose of this paper is to demonstrate that the genetic algorithm can be useful for the global path planning when the obstacles and current field data are given. In particular, the possibilities for a novel type small AUV mission deployment in tidal regions, which experience vortical currents, were examined. Experimental simulations show feasibility and effective in generate the global path regardless of current and obstacles. By choosing an appropriate path in space, an AUV may both bypass adverse currents which are too fast to be overcome by the vehicle's motor and also exploit favorable currents to achieve far greater speeds than motors could otherwise provide, while substantially saving energy.Keywords : Autonomous Underwater Vehicle(자율무인잠수정), Global Path Planning(전역경로계획), Genetic Algorithm(유전자 알고리즘), Vortical Current Field(와조류장)