| 一种基于遗传算法的AUV动目标避碰规划的方法 |
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| 引用本文： | 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(5):43-45. |
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| 作者姓名： | 吴楚成 边信黔 |
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| 作者单位： | 哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 提出了基于遗传算法实现AUV对运动目标避碰规划的方法.该方法采用实数编码,把避碰、路径最短和航迹跟踪等约束条件映射为适应度函数,引入最优保存策略,保证了遗传算法的收敛性.计算机仿真表明,该控制方法使AUV能够较好的实现对运动目标的避碰.
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| 关 键 词： | AUV 遗传算法 避碰 动目标 |
| 文章编号： | 1009-671X(2005)05-0043-03 |
| 修稿时间： | 2004年11月29 |
A method for AUV to avoid collision with moving obstacles based on genetic algorithm |
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| WU Chu-cheng,BIAN Xin-qian.A method for AUV to avoid collision with moving obstacles based on genetic algorithm[J].Applied Science and Technology,2005,32(5):43-45. |
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| Authors: | WU Chu-cheng BIAN Xin-qian |
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| Abstract: | A method of collision avoidance for AUV with moving objects was proposed based on genetic algorithm was proposed. The method adopts real coding principle,mapping the constraint conditions such as collision avoidance,shortest path and trace keeping into fitness function,to ensure the convergence of genetic algorithm with the introduction of optinal preservation strategy. Simulations show that the method can make AUV avoid collision with moving objects very well. |
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| Keywords: | AUV genetic algorithm collision avoidance moving object |
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