GA-based path planning for multiple AUVs
Wu, X., Feng, Z., Zhu, J. and Allen, R. (2007) GA-based path planning for multiple AUVs. International Journal of Control, 80, (7), 1180-1185. (doi:10.1080/00207170601145289).
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Description/Abstract
In this paper, the genetic algorithm (GA), which is a simulation of Darwinian evolution and an efficient way for large-scale optimization subject to non-linear constraints, is applied to find economical and safe routes for a swarm of AUVs to revisit an area with waypoints and obstacles which are known a priori. The algorithm can be divided into three phases: (1) waypoint assignment: allocating the waypoints to individual AUVs; (2) route optimization: minimizing the total journey of the vehicles and (3) route validation: checking whether there exist stationary and/or moving collisions. A case study for three AUVs to survey a given area is also presented to verify the algorithm.
| Item Type: | Article |
|---|---|
| Additional Information: | Special Issue on Navigation, Guidance and Control of Uninhabited Underwater Vehicles |
| ISSNs: | 0020-7179 (print) |
| Related URLs: | |
| Subjects: | Q Science > Q Science (General) T Technology > TA Engineering (General). Civil engineering (General) |
| Divisions: | University Structure - Pre August 2011 > Institute of Sound and Vibration Research > Signal Processing and Control |
| Item ID: | 49575 |
| Date Deposited: | 15 Nov 2007 |
| Last Modified: | 01 Jun 2011 09:24 |
| Contributors: | Wu, X. (Author) Feng, Z. (Author) Zhu, J. (Author) Allen, R. (Author) |
| Date: | July 2007 |
| Additional Information: | Special Issue on Navigation, Guidance and Control of Uninhabited Underwater Vehicles |
| Status: | Published |
| URI: | http://eprints.soton.ac.uk/id/eprint/49575 |
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