摘要
以能量消耗量为评价函数进行运动规划是AUV实用化中的重要问题之一 .本文对水下机器人运动规划中多目标遗传算法的操作方法进行了探讨 ,提出了导入ε制约法、非劣解保留方法及个体集团的选择方法等算法 ,讨论了避免陷入局部解的措施 .以水下机器人“Twin_Burger”为对象 ,进行运动规划的算例表明了本文所提出方法的有效性 .
Motion Planning by operating energy ,as an evaluation function,is one of the problems in AUV practicability. In this paper an operating method of multi_objective problems genetic algorithm in motion plan of AUV was presented.The methods of introducing ε limitation ,retaining selection of pareto_solution and selection of genome population were given and the step of avoiding part_solution was analyzed.The efficiency of the calculating methods were demonstrated in simulation based on the AUV “Twin_Burger”.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
2000年第2期23-27,共5页
Journal of Harbin Engineering University
关键词
水下机器人
多目标优化
遗传算法
操作方法
AUV
multi_objective optimization
genetic algorithm
operating method
