J. Ocean Eng. Technol. Search

CLOSE


J. Ocean Eng. Technol. > Volume 26(4); 2012 > Article
J. Ocean Eng. Technol. 2012;26(4):1-7.    
DOI: https://doi.org/10.5574/KSOE.2012.26.4.001   

Global Path Planning for Autonomous Underwater Vehicles in Current Field with Obstacles
Lee Ki-Young,Kim Su-Bum,Song Chan-Hee
Dept. of Mechanical Engineering and Naval Architecture Korea Naval Academy,Republic of Korea Navy Choi Young DDH-981,Dept. of Mechanical Engineering and Naval Architecture Korea Naval Academy
조류와 장애물을 고려한 자율무인잠수정의 전역경로계획
이기영,김수범,송찬희
해군사관학교 기계조선공학과,대한민국 해군 최영함,해군사관학교 기계조선공학과
© 2012 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Autonomous underwater vehicle, Global path planning, Genetic algorithm, Current vector field, Obstacle avoidance
핵심용어: 자율무인잠수정, 전역경로계획, 유전자 알고리즘, 조류벡터장, 장애물 회피
Abstract
This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation results showed that the genetic algorithm could be applied to generate an optimal path in the field of a tidal current with multiple obstacles.


ABOUT
BROWSE ARTICLES
ARTICLE CATEGORY

Browse all articles >

PUBLICATION ETHICS
FOR CONTRIBUTORS
Editorial Office
President Office BD Rm. 1302, 13 Jungang-daero 180beon-gil, Dong-gu, Busan 48821, Republic of Korea
Tel: +82-51-759-0656    Fax: +82-51-759-0656    E-mail: ksoehj@ksoe.or.kr                

Copyright © 2024 by The Korean Society of Ocean Engineers.

Developed in M2PI

Close layer
prev next