The Unmanned Surface Vehicle Mine Countermeasures Mission Planning Based on Improved Genetic Algorithm

At the needs of multiple unmanned surface vehicles(USVs) to coordinate mine countermeasures(MCM) mission. The problem of MCM mission planning with the shortest path and the least resource consumption is studied. Firstly, an improved genetic algorithm is used to solve the problem of MCM mission allocation and global path planning for USVs. Then, considering the threat of mine explosion range in MCM mission, an improved artificial potential field method is used for local path planning, so that the USVs can avoid the threat of mine explosion during MCM mission. Finally, the simulation results demonstrate that the improved genetic algorithm exhibits significant advantages in path planning, not only generating shorter paths and requiring less computation time, but also effectively integrating the artificial potential field method to successfully avoid the threat of mine explosion ranges.