摘要
为了适用于大范围海洋环境下须要考虑能量耗尽问题的AUV导航,提出了一种考虑海流影响的水下机器人全局路径规划方法,该方法将海流因素作为GA算法的评价因子,在路径规划的层面上考虑海流的影响;在此基础上对GA算法进行了改进,提出一种GA-PSO混合算法,GA-PSO混合算法比单纯的GA算法具有更快的收敛速度和运行效率。
An approach to the AUV global path planning considering ocean current is presented. Ocean current is a main factor that impacts AUV＇s navigation. Ocean current is considered as an evaluation factor, and is also considered as a part of fitness function in GA. Ocean current factor is taken into account in global path planning. GA-PSO is presented as an improvement approach. Compared with GA ,GA-PSO has faster convergence and higher efficiency.
出处
《中国造船》
EI
CSCD
北大核心
2008年第4期109-114,共6页
Shipbuilding of China
