The global trajectory planning based on multi-objective optimization algorithm for unmanned surface vehicle

In order to enhance the capacity of global trajectory planning for unmanned surface vehicle (USV), the problem of global trajectory planning was considered by multi-objective optimization method in the study. The gried-based world model was constructed on the base of electronic chart, and the multi-objective constrained optimization model was proposed by doing the analysis of global trajectory planning of USV. In order to simplify the constraints, the distance function and two-penalty function were utilized. By introducing the Pareto strength and the minimum gap model into the research, a multi-objective genetic algorithm based global trajectory planning algorithm was designed. At last, the experiment demonstrates that the multi-objectives of global trajectory planning can be balanced, and a better global trajectory for USV can be obtained by the alogrithm.