Research on Route Planning of AUV Based on Genetic Algorithms

Abstract

In order to solve the problem of premature and long search time of traditional genetic algorithm, the paper proposes an improved genetic algorithm and builds a route planning model based on the improved genetic algorithm. The paper not only adjusts the crossover probability and mutation probability adaptively, but also changes the evaluation criteria of population diversity, where the premature problem of simple genetic algorithm is solved. In addition, a model of obstacle avoidance is established to ensure that there is no collision in the whole route planning. Finally, combined with the AUV path planning problem, it is verified that the improved genetic algorithm model can not only solve the problem of premature algorithm, ensure that AUV and obstacles do not collide, but also significantly shorten the route planning time and the path length.