中文摘要：

随着地理信息系统技术的发展,电子海图作为一种专门的电子地图也越来越成熟。电子海图中提供了详细而准确的海洋环境信息。利用电子海图的环境建模和考虑海流因素的遗传搜索策略为解决大范围海洋环境下智能潜水器全局路径规划提供了一个新的方法。利用电子海图中的信息对智能潜水器的工作环境进行环境建模,以遗传多目标优化算法为搜索策略进行全局路径规划,并考虑海流因素对潜水器的影响,使潜水器在航行时可充分利用海流的能量。通过仿真试验对环境建模和路径规划进行了验证。该方法具有很好的实用性。

英文摘要：

With the development of geographic information system technology,electronic charts as a kind of specialized electronic maps also increasingly become mature.Electronic charts provide accurate information about the marine environment.By using the electronic charts to establish the model of the environment and considering ocean current in GA search strategy,a new method for AUV global path planning in large-scale marine environments is proposed.The information provided by electronic charts is used in this paper to establish the model of the environment of AUV workspace,and GA as a search strategy is used for the AUV global path planning.The ocean current as a factor that affects AUV＇s navigation is considered,so that the AUV can make full use of the energy of the currents.The model of the environment of AUV workspace and path planning is validated by simulation tests.This method is useful in practice.