| 多目标遗传算法在水下机器人路径规划中的应用 |
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| 引用本文： | 曹江丽,孙潮义.多目标遗传算法在水下机器人路径规划中的应用[J].武汉大学学报(信息科学版),2010(4). |
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| 作者姓名： | 曹江丽 孙潮义 |
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| 作者单位： | 哈尔滨工程大学计算机科学与技术学院;武汉数字工程研究所; |
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| 基金项目： | “十一五”国防预研项目(51316080202) |
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| 摘 要： | 依据VCF电子海图,提出了一种对水下机器人进行路径规划的多目标遗传算法,采用可变长的实数坐标编码、适应度函数评价了影响航路优劣的多个因素,设计了选择、交叉、变异、修补、删除等遗传算子以及种群置换方法。在生成初始种群和设计遗传算子时引入领域知识,使所生成路径尽量不穿越障碍区域,有效地提高了大范围路径规划算法的收敛速度。试验表明,采用该MOGA算法进行路径规划可提高算法的收敛速度和全局寻优能力。
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| 关 键 词： | 多目标遗传算法 路径规划 VCF 适应度函数 |
Path Planning Based on Multi-Objective Genetic Algorithm for AUV on VCF Electronic Chart |
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| CAO Jiangli, SUN Chaoyi.Path Planning Based on Multi-Objective Genetic Algorithm for AUV on VCF Electronic Chart[J].Geomatics and Information Science of Wuhan University,2010(4). |
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| Authors: | CAO Jiangli SUN Chaoyi |
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| Institution: | CAO Jiangli1,2 SUN Chaoyi2(1 College of Computer Science , Technology,Harbin Engineering University,145 Nantong Street,Nangang District,Harbin 150001,China)(2 Wuhan Digital Engineering Institute,718 Luoyu Road,Wuhan 430074,China) |
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| Abstract: | A multi-objective genetic algorithm for AUV path planning based on Vector Chart Format electronic charts is presented in this paper.In this method,real-code of variable length is adopted,several factors concerned with path quality are evaluated through fitness functions,and genetic operators such as selection,crossover,mutation,repair,deletion,together with population replacement method are proposed.Domain knowledge is introduced during the initial population formation and genetic operator design,in order t... |
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| Keywords: | multi-objective genetic algorithm path planning VCF fitness function |
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