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基于BQPSO的潜水器路径规划算法 被引量：1

Path Planning Algorithm for Underwater Vehicle Based on BQPSO
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摘要 在栅格法的自治水下机器人离散工作空间基础上,提出一种基于二进制编码的量子粒子群(BQPSO)算法求解自治水下机器人路径规划问题。该算法将路径表示为粒子位置的二进制编码,以路径长度为适应值,引入交叉策略避免陷入局部最小。仿真实验表明,BQPSO算法可以进行有效的自治水下机器人路径避障。 A method of path planning for underwater vehicle based on Binary Quantum-behaved Particle Swarm Optimization（BQPSO） algorithm is proposed aiming at the grid discrete workspace.In this algorithm,the path is represented as binary code of the particle position.The length of path is set as function fitness and the crossover is introduced to avoid the local minima.Simulation experiments show that BQPSO algorithm can effectively avoid the obstacle of the underwater vehicle.
作者 韩应贤 刘静 朱大奇
机构地区 上海海事大学水下机器人与智能系统实验室
出处 《计算机工程》 CAS CSCD 北大核心 2011年第8期216-218,共3页 Computer Engineering
基金 上海市晨光计划基金资助项目(2008CG55) 上海市教委创新基金资助项目(10YZ113 10ZZ97)
关键词 粒子群优化算法 量子粒子群优化算法 二进制量子粒子群优化算法 路径规划 Particle Swarm Optimization（PSO） algorithm； Quantum-behaved PSO（QPSO） algorithm； Binary QPSO（BQPSO） algorithm； path planning；
分类号 TP31 [自动化与计算机技术—计算机软件与理论] TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献8

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二级参考文献13

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共引文献85

同被引文献19

  • 1于丽,丁锋,张佳波.多新息随机梯度辨识方法的收敛性研究[J].科学技术与工程,2007,7(21):5475-5478. 被引量：11
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计算机工程
2011年 第8期

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