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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), pp. 1180-1185. (doi:10.1080/00207170601145289).

Record type: Article


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.

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Published date: July 2007
Additional Information: Special Issue on Navigation, Guidance and Control of Uninhabited Underwater Vehicles


Local EPrints ID: 49575
ISSN: 0020-3270
PURE UUID: e1c8d1de-6053-475b-b3c8-83d21eb33bca

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Date deposited: 15 Nov 2007
Last modified: 17 Jul 2017 14:55

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