Dynamic Path Planning for Unmanned Surface Vehicles with a Modified Neuronal Genetic Algorithm

Abstract

Unmanned surface vehicles (USVs) are experiencing significant development across various fields due to extensive research, enabling these devices to offer substantial benefits. One kind of research that has been developed to produce better USVs is path planning. Despite numerous research efforts employing conventional algorithms, deep reinforcement learning, and evolutionary algorithms, USV path planning research consistently faces the challenge of effectively addressing issues within dynamic surface environments where USVs navigate. This study aims to solve USV dynamic environmental problems, as well as convergence problems in evolutionary algorithms. This research proposes a neuronal genetic algorithm that utilizes neural network input for processing with a genetic operator. The modifications in this research were implemented by incorporating a partially exponential-based fitness function into the neuronal genetic algorithm. We also implemented an inverse time variable to the fitness function. These two modifications produce faster convergence. Based on the experimental results, which were compared to those of the basic neural-network-based genetic algorithms, the proposed method can produce faster convergent solutions for USV path planning with competitive performance for total distance and time traveled in both static and dynamic environments.