A Genetic Algorithm Application in Planning Path Using B-Spline Model for Autonomous Underwater Vehicle (AUV)

This paper proposes a method of using the B-spline mathematical model to plan high smoothness curve trajectories with heading condition through given waypoints for autonomous underwater vehicles (AUVs) in particular and ships with rudder systems in general. In addition, this paper examines some of the physical limitations of this vehicle, which lead to some binding conditions of the trajectory. Besides, the paper applies B-spline approximation method to reduce the curvature of the trajectory, when waypoints are too close and we do not need to go through exactly these waypoints in the 2D plane. Finally, this paper also proposes the genetic algorithm application with some modifications to solve the optimization of B-spline path length with constraint in turning radius of the vehicle.