Research On Global Path Planning For Autonomous Underwater Vehicle Based On Sea Map Data

Autonomous Underwater Vehicle(AUV) is a kind of important underwater equipment.Its research has a profound economic meaning and is imminently needed owing to military and politics reasons.This paper presents methods of AUV global path planning in nonlinear and nonstructural ocean enviroment.This paper also describes the development of the software system in the AUV simulation management computer.The global path planning in the ocean enviroment using activity propagation algorithm(AP) is studied in this paper.The results of the path planning without regard to the ocean current are given.The methods for the 3D case and the case under the ocean current influence are also introduced.Path planning is a classical problem in artificial intelligence. The application of genetic algorithm(GA) to the path planning problem is a meaningful research direction.This paper also proposes an improved genetic algorithm for path planning problems. Finally this paper compares and analyses the AP and GA in the application of path planning problems.The development of AUV software system which kernel module is electronic chart improves the quality of man-machine interface.The system is a good test platform not only for the global path planning algorithms but also for the AUV dynamic control strategies in the ocean enviroment.The experiment in the case of "ocean physiognomy reconnaissance"' shows that the application of AP in large scale sea enviroment is efficient and the AUV software system nicely meets the experiment demand.