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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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
Digital Object Identifier (DOI): doi:10.1080/00207170601145289
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
ePrint ID: 49575
Accepted Date and Publication Date:
July 2007Published
Date Deposited: 15 Nov 2007
Last Modified: 31 Mar 2016 12:26

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