Research On Global Path Planning For AUV Based On Electronic Chart

As a main component of autonomous navigation system, global path planning plays an important role for an intelligent robot. For an Autonomous Underwater Vehicle (AUV), it is very important to search a safe and efficient path in the environment with obstacles and other constraints. The global path planning includes two parts: establishing environmental modeling and searching optimization path. According to the demand of AUV global path planning in large-scale marine environments, the method for establishing environmental modeling by using the electronic charts, and the search strategy considering ocean current in the global path planning are presented.Firstly, the development of AUV and the problem of path planning are introduced, and some methods of establishing environmental modeling and searching optimization path using in the global path planning are discussed. Then, a searching algorithm considering ocean current in the AUV global path planning based GA is described. Ocean current as a main factor that impacts AUV's navigation is considered in fitness function of GA. So AUV can take full advantage of the ocean current and save its own energy consumption. AUV global path planning in 3-D space can be considered to dividing the 3-D space into discrete layers along the deep direction, and each layer is a 2-D space. GA-PSO algorithm is presented, which makes PSO as a special operator to improve the speed of convergence in GA. Compared with GA, GA-PSO has faster convergence and higher efficiency.Environmental modeling was established by using the information of electronic charts. The gird method and geometry method were respectively presented. The environmental modeling was validated by simulation test, and it has a very good practicality.