Improved genetic algorithm for fast path planning of USV

Lu Cao

doi:10.1117/12.2210736

14 December 2015 Improved genetic algorithm for fast path planning of USV

Lu Cao

Proceedings Volume 9815, MIPPR 2015: Remote Sensing Image Processing, Geographic Information Systems, and Other Applications; 981529 (2015) https://doi.org/10.1117/12.2210736
Event: Ninth International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2015), 2015, Enshi, China

Abstract

Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for USV(Unmanned Surface Vehicle), an approach of fast path planning based on voronoi diagram and improved Genetic Algorithm is proposed, which makes use of the principle of hierarchical path planning. First the voronoi diagram is utilized to generate the initial paths and then the optimal path is searched by using the improved Genetic Algorithm, which use multiprocessors parallel computing techniques to improve the traditional genetic algorithm. Simulation results verify that the optimal time is greatly reduced and path planning based on voronoi diagram and the improved Genetic Algorithm is more favorable in the real-time operation.

Citation Download Citation

Lu Cao "Improved genetic algorithm for fast path planning of USV", Proc. SPIE 9815, MIPPR 2015: Remote Sensing Image Processing, Geographic Information Systems, and Other Applications, 981529 (14 December 2015); https://doi.org/10.1117/12.2210736

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