Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Global Path Planning for Autonomous Underwater Vehicles in Current Field with Obstacles

조류와 장애물을 고려한 자율무인잠수정의 전역경로계획

  • Lee, Ki-Young (Dept. of Mechanical Engineering and Naval Architecture, Korea Naval Academy) ;
  • Kim, Su-Bum (Republic of Korea Navy, Choi Young DDH-981) ;
  • Song, Chan-Hee (Dept. of Mechanical Engineering and Naval Architecture, Korea Naval Academy)
  • 이기영 (해군사관학교 기계조선공학과) ;
  • 김수범 (대한민국 해군 최영함) ;
  • 송찬희 (해군사관학교 기계조선공학과)
  • Received : 2012.02.02
  • Accepted : 2012.08.20
  • Published : 2012.09.01
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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.

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References

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