基于混合遗传算法的无人船自动航向控制方法

Automatic Course Control Method of Unmanned Ship Based on Hybrid Genetic Algorithm

针对无人船航向控制提出了基于模糊及遗传算法的控制策略。考虑无人船航向控制及其具有的强非线性和不确定性,文章将基于智能策略和常规策略的无人船航向舵角控制作为主要控制框架。通过导引律计算期望的角度,并根据自主船的无人船航向控制动态模型进行分析。该模型考虑了舵和船舶推进系统的物理阈值,提出了一种适用于不同无人船航向控制的自适应控制算法,借助增益调度方法(GS),利用PID控制器和遗传算法(GA)对不同的操作点进行全流程的混合遗传算法(GS-PID-GA)优化。通过将真实数据比例缩小进行模型试验,并与传统控制方法进行比较,验证了所提控制方法的有效性。

A control strategy based on fuzzy and genetic algorithm is proposed for the course control of unmanned ship.Considering that the direct result of the course control of the unmanned ship is the trajectory change of the unmanned ship,and the course control of the unmanned ship has strong nonlinearity and uncertainty,the paper takes the intelligent strategy and the conventional strategy as the rudder angle control as the main control framework.The expected angle is calculated by the guidance law and the trajectory is estimated according to the dynamic model of the autonomous ship.This model takes into account the physical thresholds of rudder and ship propulsion system,proposes an adaptive control algorithm suitable for any different trajectory to deal with paths of different shapes,designs gain scheduling method(GS),uses PID controller,and performs whole-process of GS-PID-GA as hybrid optimization for different operating points through genetic algorithm(GA).By scaling down the real data and comparing with the traditional control methods,the effectiveness of the proposed control method is verified.