Multiple Region Coverage Path Planning for Autonomous Underwater Vehicle.

Authors

DOI:

https://doi.org/10.14429/dsj.71.16174

Keywords:

Autonomous underwater vehicle, Coverage path planning, Multiple region search, Genetic algorithm, Travelling salesman problem, Design of experiment, Latin square, Fractional factorial experimental design

Abstract

Coverage path planning methodology for an autonomous underwater vehicle to search multiple non-overlapping regions has been proposed in the paper. The proposed methodology is based on the genetic algorithm (GA). The GA used in the proposed methodology has been tuned for the specific problem, using design of experiment on an equivalent travelling salesman problem benchmark instance. Optimality of the generated paths was analysed through simulation studies. Results indicated that the proposed methodology generated shorter paths in comparison to conventional methods.

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Published

2021-10-22

How to Cite

Sinha, S. D. (2021). Multiple Region Coverage Path Planning for Autonomous Underwater Vehicle. Defence Science Journal, 71(6), 784–790. https://doi.org/10.14429/dsj.71.16174

Issue

Section

Computers & Systems Studies