Path Planning Based on Multi-Objective Genetic Algorithm for AUV on VCF Electronic Chart

A multi-objective genetic algorithm for AUV path planning based on Vector Chart Format electronic charts is presented in this paper.In this method,real-code of variable length is adopted,several factors concerned with path quality are evaluated through fitness functions,and genetic operators such as selection,crossover,mutation,repair,deletion,together with population replacement method are proposed.Domain knowledge is introduced during the initial population formation and genetic operator design,in order that the produced path intersects obstruction area as less as possible,therefore the algorithm converges more quickly in the case of large-scale path planning.Experiments show that this multi-objective genetic algorithm can effectively improve algorithm convergence rate and global optimization ability.