数字海洋与水下攻防2024，Vol.7Issue(2)：215-224,10.DOI:10.19838/j.issn.2096-5753.2024.02.011
基于改进遗传算法的无人水下航行器路径规划
Path Planning for Unmanned Underwater Vehicles Based on Improved Genetic Algorithm
黄昱舟 1胡庆玉 1熊华乔1
作者信息
- 1. 中国船舶集团有限公司第七一〇研究所,湖北 宜昌 443003||清江创新中心,湖北 武汉 430076
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摘要
Abstract
Aiming at the problems of unmanned underwater vehicles(AUVs)with many motion constraints as well as the low efficiency of path optimization and slow convergence speed of traditional genetic algorithm,an improved genetic algorithm path planning method for AUVs is proposed.The algorithm selects grid method to construct the environment,and uses path length,smoothness and dangerous area as evaluation function.The population initialization process of genetic algorithm is improved,the convergence speed is raised by introducing the grid of surrounding points,and the idea of catastrophe is combined to avoid the population falling into the local optimal solution.AUV smoothing process and deletion process are designed according to the constraints of AUV maximum turning angle to avoid sharp stop and turn of AUV navigation.The simulation and lake test results show that compared with the traditional genetic algorithm,the improved genetic algorithm reduces the path length by 11.4%,improves the convergence speed by 20.0%,and the convergence path meets the constraints of AUV navigation.关键词
无人水下航行器/路径规划/遗传算法/灾变思想/AUV运动特性Key words
unmanned underwater vehicle/path planning/genetic algorithm/catastrophe concept/AUV motion characteristics分类
信息技术与安全科学引用本文复制引用
黄昱舟,胡庆玉,熊华乔..基于改进遗传算法的无人水下航行器路径规划[J].数字海洋与水下攻防,2024,7(2):215-224,10.
