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).


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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: 0020-3270 (print)
ePrint ID: 49575
Date :
Date Event
July 2007Published
Date Deposited: 15 Nov 2007
Last Modified: 16 Apr 2017 18:17
Further Information:Google Scholar

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