Research on Global Path Planning for Autonomous Underwater Vehicle Considering Ocean Current

T230 global path planning of autonomous underwater vehicle (AUV) is one of the basic aspects of intelligent control. Aiming at the problems such as the low efficiency of searching optimal solution and the long searching time in global path planning, a new Genetic-Ant hybrid algorithm is proposed. In view of the fact that the current has been considered inadequate, an ocean current model with grids based on B spline function is based. In all, a new optimal integration strategy was put forward to improve the integration efficiency in the hybrid algorithm, and the evaluation function was set based on minimum of energy consumption with the current considered. Simulation experiments show that the new algorithm has the advantage that the search time and the number of iterations are obviously reduced while the search precision kept compared with the existing hybrid algorithms. The new algorithm is feasible and reasonable in the complicated current situation.