摘要
智能水下机器人(AUV)研究领域中的一个重要问题是全局路径规划,它的目标是在已知障碍物的环境中寻找一条从起始状态到达目标状态的无碰路径。提出一种分层遗传算法来解决大范围海洋环境下AUV的路径规划问题。详细介绍了算法的实现,并进行了仿真实验,仿真结果证明了该算法的有效性。
An important research field of Autonomous Underwater Vehicle is global path planning which is to find a collision-free path from the source position to the destination position among fixed obstacles. This paper used the Hierarchical Genetic Algorithm to resolve the problem of path planning in ocean. In this paper, the details of the algorithm were introduced. This algorithm was implemented, and the results demonstrated the validity of the algorithm.
出处
《应用科技》
CAS
2003年第2期18-21,共4页
Applied Science and Technology
关键词
智能水下机器人
路径规划
遗传算法
autonomous underwater vehicle (AUV)
path planning
genetic algorithm
