Research on route obstacle avoidance task planning based on differential evolution algorithm for AUV

Abstract

AUV mission planning route avoidance purpose is to be able to successfully avoid the threat of a number of different levels of obstacles between the start and end of the route, and plan the optimal route planning to meet certain performance indicators. Through the differential evolution algorithm analysis and description, the avoidance route mission planning problem into a multi-dimensional function optimization problems, optimization problems for AUV mission planning route avoidance functions, based on differential evolution algorithm is proposed route obstacle avoidance task planning methods and after a comprehensive analysis and simulation results validate the differential evolution algorithm in high-dimensional function optimization convergence and stability demonstrated good performance.