Reasearch On Multi-objective Path Planning Based On GA For Autonomous Underwater Vehicles

Global path planning is a very important component in underwater robot system, which in a certain extent determines the level of intelligent of robot. Environmental complexity of marine increases the difficulty of path planning for underwater robot. Path planning for underwater robot should consider several constraints, such as robot kinematics characteristics and dynamic features, simultaneously it also considers the optimal objectives and so on. With the deepening of research, path optimization for underwater robot is developing in the direction toward the multi-objective optimization, that is to say, the problem of path planning for underwater robot is becoming a constraint optimization problem, with multiple constraints and multiple optimal sub-targets.Path planning for autonomous underwater vehicle (AUV) is a constrained optimization problem. This thesis mainly studies the multi-objective path planning problem for AUV .With the help of electronic chart and genetic algorithm (GA), it is to plan a path in complicated marine environment, and the path should make all the optimal sub-targets achieve optimum as far as possible, as well as satisfying multiple constraints. The content of this thesis includes three parts: research on multi-objective path planning problem in the condition of customize obstacles; research on multi-objective path planning problem based on electronic chart and the AUV multi-objective path planning study,which considers the ocean current factors in the marine environment. The three parts are with the progressive relationship. At last, this thesis studies the path planning problem for AUV, where the final path must reach several points.Besides, the path planning problem, which involves the changeable grid, is also to be researched. Through comparing the path planning methods in this thesis with traditional path planning methods, we can see that this method can effectively solve the multi-objective path planning problem for AUV in the complex marine environment, with good feasibility and validity.