Aiming at problem of real-time path planning and obstacle avoidance in target tracking process

on the basis of genetic algorithm

a simple geometric obstacles avoidance method is applied along tangential direction to generate initial population. It can improve the connectivity of the path

and on this basis

crossover and mutation are carried out

the algorithm can obtain better tracking paths in obstacle environment. Simulation results show that the algorithm is correct and feasible and provides a new solution for path planning problem in process of target tracking.