摘要
全局路径规划是智能水下机器人(AUV)研究领域中的一个重要课题,在一定程度上它标志着水下机器人智能水平的高低,它的目标是在已知障碍物的环境中为水下机器人寻找一条从起始状态到达目标状态的无碰路径.文中提出一种基于区域分层模型的遗传模拟退火算法的全局路径规划方法,解决了在大范围海洋环境下水下机器人的路径规划问题,详细介绍了区域分层模型和遗传模拟退火算法的实现,仿真的结果证明了该算法的有效性.
Global path planning is an important research field of autonomous underwater vehicle (AUV). Finding a collision-free path for an AUV from the source position to the destination position among fixed obstacles represents the intelligence level of an AUV to some extent. A global path planning method is proposed, using a genetic simulated annealing algorithm based on a hierarchical model to resolve the problem of path planning in an ocean. The algorithm has been implemented, and the results demonstrate its validity.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2005年第1期84-87,共4页
Journal of Harbin Engineering University
关键词
智能水下机器人
路径规划
遗传算法
模拟退火算法
Applications
Artificial intelligence
Autonomous agents
Genetic algorithms
Mathematical models
Simulated annealing
