[1]严浙平,黄宇峰,李锋.遗传算法在AUV局部路径规划中的应用研究[J].应用科技,2009,36(02):46-51.
 YAN Zhe-ping,HUANG Yu-feng,LI Feng.Research on the application of genetic algorithm in localpath planning for AUV[J].yykj,2009,36(02):46-51.
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遗传算法在AUV局部路径规划中的应用研究
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第36卷
期数:
2009年02期
页码:
46-51
栏目:
自动化技术
出版日期:
2009-02-05

文章信息/Info

Title:
Research on the application of genetic algorithm in localpath planning for AUV
文章编号:
1009-671X(2009)02-0046-06
作者:
严浙平黄宇峰李锋
哈尔滨工程大学自动化学院,黑龙江哈尔滨150001
Author(s):
YAN Zhe-ping HUANG Yu-feng LI Feng
College of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
AUV动目标避碰遗传算法路径规化
Keywords:
AUV moving obstacles avoiding collision genetic algorithmpath planning
分类号:
TK414.2
文献标志码:
A
摘要:
利用遗传算法(GA)实现AUV(自主水下机器人)对于运动目标的自主避碰,根据前视声纳信息探测到的障碍物距离信息,AUV的运动信息以及航迹规划信息.算法采用了二进制编码规则,并把避碰、航迹跟踪等约束条件作为适应度函数的影响因子,将AUV的下一步的航向和速度作为避碰算法的输出结果.仿真表明,AUV对动目标的自主避碰效果良好、避碰和航迹回归路径平滑.
Abstract:
A genetic algorithm (GA) is used to avoid the moving obstacles based on the distance information which is detected by forward looking sonar; the moving information of AUV (Autonomous Underwater Vehicle) and the programming track information for AUV. The algorithm uses binary coding rule, and obstacle avoidance and track tracking as constraint conditions which will affect the function of adaptation. The next course and velocity of AUV are used as the output of GA. It is shown that AUV avoids obstacles well by simulation. The route of avoiding obstacles and returning is smooth too.

参考文献/References:

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相似文献/References:

[1]吴楚成,边信黔.一种基于遗传算法的AUV动目标避碰规划的方法[J].应用科技,2005,32(05):43.

备注/Memo

备注/Memo:
基金项目:黑龙江省博士后科研启动金资助项目(LH04010).
作者简介:严浙平(1972-),男,教授,博士生导师,主要研究方向:检测技术与水下机器人集成和控制等,E-mail:yanzheping@hrbeu,edu.cn.
更新日期/Last Update: 2009-03-18