摘要
使用单舰船静、动态避碰路径规划方法设计的系统,在遇到障碍物时躲避效果较差,导致规划时间较长。为了解决该问题,提出了改进遗传算法的舰船导航路径规划系统设计。设计系统4个层次的硬件结构,使用基于改进遗传算法,构建最优路径数据模型,选取中间路径点,避免了传统方法在遇到障碍物产生无效路径现象,由此设计改进遗传算法实现流程。由仿真实验结果可知,使用该算法设计的系统总规划时间为3.8 s,保障改进遗传算法的鲁棒性。
The system designed using the static and dynamic collision avoidance path planning method of a single ship has poor avoidance effect when encountering obstacles, resulting in longer planning time. In order to solve this problem, an improved genetic algorithm for ship navigation path is proposed Planning system design. The hardware structure of the system is designed with 4 levels, and the optimal path data model is constructed based on the improved genetic algorithm, and the intermediate path points are selected to avoid the invalid path phenomenon caused by the obstacles encountered by the traditional method. Therefore, the implementation process of the genetic algorithm is improved. It can be seen from the results of simulation experiments that the total planning time of the system designed using this algorithm is 3.8 s, which guarantees the robustness of the improved genetic algorithm.
作者
郑治武
ZHENG Zhi-wu(School of Electronic Information,Hunan University of Information Technology,Changsha 410151,China)
出处
《舰船科学技术》
北大核心
2020年第22期121-123,共3页
Ship Science and Technology
关键词
改进遗传算法
舰船导航
路径规划
improved genetic algorithm
ship navigation
path planning
