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.
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.
出处
《应用科技》
CAS
2005年第5期43-45,共3页
Applied Science and Technology
关键词
AUV
遗传算法
避碰
动目标
AUV
genetic algorithm
collision avoidance
moving object
