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GA-based path planning for multiple AUVs. (English) Zbl 1119.93013
Summary: The genetic algorithm (GA), which is a simulation of Darwinian evolution and an efficient way for large-scale optimization subject to non-linear constraints, is applied to find economical and safe routes for a swarm of AUVs to revisit an area with waypoints and obstacles which are known a priori. The algorithm can be divided into three phases: (1) waypoint assignment: allocating the waypoints to individual AUVs; (2) route optimization: minimizing the total journey of the vehicles and (3) route validation: checking whether there exist stationary and/or moving collisions. A case study for three AUVs to survey a given area is also presented to verify the algorithm.
93A30 Mathematical modelling of systems (MSC2010)
90C59 Approximation methods and heuristics in mathematical programming
93C85 Automated systems (robots, etc.) in control theory
Full Text: DOI
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