조류와 장애물을 고려한 자율무인잠수정의 전역경로계획

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 26; no. 4; pp. 1 - 7
• Main Authors: 이기영(Ki-Young Lee), 김수범(Subum Kim), 송창희(Chan-Hee Song)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2012
• Subjects: 해양공학; 전역경로계획; 자율무인잠수정; Global path planning; Genetic algorithm; Obstacle avoidance; 장애물 회피; Current vector field; 조류벡터장; Autonomous underwater vehicel; 유전자 알고리즘
• ISSN: 1225-0767; 2287-6715

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.