Research On Global Path Planning For Unman Surface Vehicle

Path-planning is a very important task in Unman Surface Vehicle(USV)'s navigation system. Global path-planning problem is an important issue on research of USV. And the research of Global path-planning is very meaningful. GPP is virtually, under certain restriction, planning of a path from the starting point to the ending point avoiding colliding, based on experience knowledge. Genetic algorithm (GA) is such an algorithm that simulating the principle of biology evolution. In recent years, It has been applied widely in many fields such as GPP. The main content of this paper is concerned about solving the GPP problem of USV using AP and GA based on hierarchical model. The following aspects are investigated and discussed.Firstly, the current situation of USV's development and the background and significance of GPP is introduced. It analyses the domestic and foreign research and development trends of USV.Secondly, it simply introduces GPP, including the definition and classification of robots path planning, some typical path planning approaches and the new research trends of path planning.Finally the basic principle and some details of the hierarchical path planning are mainly study. This paper also study the basic principle of AP and then use AP based on hierarchical model to plan path, and then uses GA based on hierarchical model to plan global path. Some simulation results of the real sea map are given, they demonstrated the validity of the algorithm.